OpenGL Based Experimental Platform for Simulation of Robot Arm Control System

A 3D experimental platform for simulation of robot arm control system(RACS) is introduced.The architecture and simulation technology of RACS are also discussed.OpenGL and Visual C++ based modelling method has been used to establish the platform after considering the function of RACS.First,working out the kinematics equations through geometric method,so we can control the robot arm in JOG or JOY modes;secondly,modeling the system through 3D Max and OpenGL.This paper regards each joint as a subsystem,than makes up the whole through stack matrix.Based on these,the platform can display the state of arm in time,validate the control strategies and optimize the moving track.Through different control modes of JOG,JOY,the platform is successfully demonstrated.