外文翻译---基于虚拟现实技术的机器人运动仿真研究(编辑修改稿)

外文翻译---基于虚拟现实技术的机器人运动仿真研究(编辑修改稿)内容摘要：

hrough the External Authoring Interface. Qin[9] researched a novel 3D simulation modeling system for distributed manufacturing. In this paper, the CINCINNATI robot is researched and analysed by VRML and Java and VRML file is optimized fortransmission on inter. The 3D visualization model of the motion simulation for robot is realized by VRML and Java based on virtual reality. Therefore the research about motion simulation of robot based on inter is significant and application value. II. KINEMATICS OF ROBOT There are two problems for the kinematics of robot. One problem is direct kinematics’ problems, which the gesture of terminal actuator in the setting system of coordinates need be solved by the geometric parameter and joint variate of member. The other is inverse kinematics’ problems, which the joint variate value need be solved by the robot geometric parameter and the gesture of terminal actuator in the whole system of coordinates [13][16]. The industrial robot is researched in the paper, and it was manufactured in CINCINNATI MILACRON COMPANY. The robot with six degrees of freedom shows in is extensively applied in industrial filed, such as transport, spraying and welding etc. A. DKPDirect Kinematics’ Problems According to DenavitHartenberg[6] transformation of coordinate (DH), the position and orientation for the system of coordina。