Volume 8 Number 10 (Oct. 2013)
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JSW 2013 Vol.8(10): 2517-2521 ISSN: 1796-217X
doi: 10.4304/jsw.8.10.2517-2521

Geometric and Kinematics Modeling of Teleoperated Virtual Construction Robot

Xiao Li1, Zhifeng Huang2, Haotian Li3

1School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China
2Chen De Plastics Machinery Co., Ltd., China
3Department of Computer and Information Science and Engineering, University of Florida, Gainesville, USA

Abstract—The tele-operated virtual construction robot is an important part of the tele-operated construction robot system based on virtual reality. To improve the realness of the virtual construction robot and reduce the difficulty of development, the hybrid modeling method of combining OpenGL function modeling with Solidworks software modeling, along with the Denavit-Hartenberg (D-H) method were investigated and applied to the geometric and kinematics modeling of the virtual construction robot. The simulation experimental results demonstrated that the motions of virtual construction robot and real construction robot are consistent, and the position and attitude of the mechanical gripper fingertips of both are the same and are consistent with the theoretical results. The modeling method is feasible and effective, which can provide some references to the construction robot modeling with similar structure.

Index Terms—Tele-operated virtual construction robot, geometric modeling, kinematics modeling.


Cite: Xiao Li, Zhifeng Huang, Haotian Li, "Geometric and Kinematics Modeling of Teleoperated Virtual Construction Robot," Journal of Software vol. 8, no. 10, pp. 2517-2521, 2013.

General Information

ISSN: 1796-217X (Online)
Frequency:  Quarterly
Editor-in-Chief: Prof. Antanas Verikas
Executive Editor: Ms. Yoyo Y. Zhou
Abstracting/ Indexing: DBLP, EBSCO, CNKIGoogle Scholar, ProQuest, INSPEC(IET), ULRICH's Periodicals Directory, WorldCat, etc
E-mail: jsweditorialoffice@gmail.com
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