| 基于OSG的空间机械臂三维仿真平台的设计与实现 |
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| 引用本文： | 唐立才,张海涛,张敬鹏,景海龙.基于OSG的空间机械臂三维仿真平台的设计与实现[J].应用声学,2015,23(3). |
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| 作者姓名： | 唐立才 张海涛 张敬鹏 景海龙 |
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| 作者单位： | 广东航宇卫星科技有限公司,山东航天电子技术研究所,广东航宇卫星科技有限公司,广东航宇卫星科技有限公司 |
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| 摘 要： | 为了实现空间机械臂路径规划算法的可视化仿真,采用OSG(OpenSceneGraph)技术,开发了一个实用方便的空间机械臂三维仿真平台。该仿真平台在VS2005开发平台上,基于QT框架类和OSG的图形库进行开发,将仿真平台系统框架分为了OSG仿真界面,任务管理,数据管理和路径规划四个模块并设计了人机交互界面。最后,通过典型的仿真实验对仿真平台进行了测试,有效的验证了空间机械臂单臂路径规划算法和双臂协调路径规划算法的正确性以及空间机械臂三维仿真平台的可行性。
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| 关 键 词： | 空间机械臂 三维仿真平台 OSG QT |
Design and Implementation of a 3D Simulation Platform of Space Manipulator Based on OSG |
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| ZHANG Hai-tao,ZHANG Jing-peng and JING Hai-long.Design and Implementation of a 3D Simulation Platform of Space Manipulator Based on OSG[J].Applied Acoustics,2015,23(3). |
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| Authors: | ZHANG Hai-tao ZHANG Jing-peng and JING Hai-long |
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| Institution: | Guangdong Hangyu Satellite Technology Co,Limited,Shantou Guangdong,Shandong Aerospace Electro-technology Institute,Yantai Shandong,Guangdong Hangyu Satellite Technology Co,Limited,Shantou Guangdong,Guangdong Hangyu Satellite Technology Co,Limited,Shantou Guangdong |
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| Abstract: | In order to achieve a visual simulation of space manipulator path planning algorithm, a practical and convenient 3D simulation platform of space manipulator is developed based on OSG (OpenSceneGraph) technology. The exploitation of simulation platform is based on QT frame class and OSG graphics library in VS 2005 development environment. The simulation platform consists of OSG interface module, task management module, data management module, and path planning module. In addition, an interactive interface is also designed. The validity of path planning algorithm and feasibility of the 3D simulation platform of space manipulator are proved by a typical simulation experiment. |
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| Keywords: | Space manipulator 3D simulation platform OSG QT |
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