3D VR Kinematic Robot Simulation Based on HTML5 and WebGL

doi:10.12068/j.issn.1005-3026.2014.04.025

Journal of Northeastern University Natural Science ›› 2014, Vol. 35 ›› Issue (4): 564-567.DOI: 10.12068/j.issn.1005-3026.2014.04.025

• Mechanical Engineering • Previous Articles Next Articles

3D VR Kinematic Robot Simulation Based on HTML5 and WebGL

Alexey DEMIN， DAI Yuanxing， LI Xin， WANG Wanshan

School of Mechanical Engineering ＆ Automation， Northeastern University， Shenyang 110819， China.

Received:2013-11-01 Revised:2013-11-01 Online:2014-04-15 Published:2013-11-22
Contact: ALEXEY Demin
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Abstract

Abstract: A 3D geometric model of each link of the robots was built up using the 3D modeling software Remo3D. The standard COLLADA was used to describe the mutual connections between each links. A 5DOF manipulator’s motion equation was established by the DH method， and the inverse kinematics problem was solved by transforming the homogeneous transformation matrix. Real time graphic simulation of the robot was realized by the 3D robot simulation system reserved in HTML5 language and WebGL library， and obtained in synchronization from different places without installation of programs. The application adopts open standards and can be run in any modern browser on PC or any smart device.

Key words: Web application, WebGL, HTML5, robot simulation, COLLADA

CLC Number:

TP274

Alexey DEMIN， DAI Yuanxing， LI Xin， WANG Wanshan. 3D VR Kinematic Robot Simulation Based on HTML5 and WebGL[J]. Journal of Northeastern University Natural Science, 2014, 35(4): 564-567.

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3D VR Kinematic Robot Simulation Based on HTML5 and WebGL

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