3D graphical simulation of an articulated serial manipulator based on kinematic models

Abstract

This paper presents a portable 3D graphical simulator for a Fanuc M-6iB/2HS articulated robot. The mechanical structure is modeled using OpenGL functions implemented in Qt Framework. The robot motions are simulated based on the direct and inverse kinematics equations also presented in this paper. The simulator features include quick motion, step-by-step simulation, 3D scene control functions, objects selection functions and motion algorithms like joint interpolated motion and linear interpolated motion.