Manipulator-Simulation-by-OpenGL

3D Robot Manipulator Simulation using OpenGL and GLUT

Made by YANG (2023/01/31)

Overview

This project implements a 3D robot manipulator simulation with inverse kinematics using OpenGL and GLUT. The simulation includes multiple versions with different degrees of freedom and provides real-time visualization of robot arm movements.

Features

• 3D Visualization: Real-time OpenGL rendering of robot manipulator
• Inverse Kinematics: Automatic calculation of joint angles for target positions
• Interactive Controls: Camera movement and angle adjustment
• Multiple Versions: Different degrees of freedom implementations
• Trajectory Display: Visual representation of arm movement paths

Project Structure

code/
├── 3.0/           # Final version (4+1 DOF manipulator)
├── 20t1126n(YANG GUANGZE)/
│   ├── 1_0/       # 3 DOF manipulator
│   └── 2_0/       # 4 DOF manipulator
├── sample/        # Sample programs
├── test/          # Test programs
└── makefile/      # Build configuration

setup/             # GLUT setup files
OpenGL_study/      # OpenGL learning materials

Versions

• Version 1.0: 3次元3自由度ロボットマニピュレータ (3D 3-DOF Robot Manipulator)
• Version 2.0: 3次元4自由度ロボットマニピュレータ (3D 4-DOF Robot Manipulator)
• Version 3.0: 最終版 (Final version with 4+1 DOF)

Controls

Key	Function
F1	実行 (Execute/Run simulation)
W S A D Q E	カメラ移動 (Camera movement)
↑ ↓ ← →	カメラ角度 (Camera angle)
0	原点復帰 (Return to origin)

Requirements

• Compiler: Borland C++ Compiler (BCC32)
• Graphics: OpenGL and GLUT libraries
• OS: Windows (tested on Windows NT/95/XP and later)

Setup

1. Install GLUT: Run setup scripts in setup/ directory

   cd setup
   glut-setup.bat
   bcc-setup.bat

2. Set Environment: Configure Borland compiler paths

   cd code/makefile
   setpath.bat

Building

cd code/3.0
make

Running

invK3d.exe

Technical Details

• Inverse Kinematics: Jacobian matrix-based calculation
• Sampling Time: 0.005 seconds
• Simulation Time: 15.0 seconds
• Control Gain: KP = 20.0
• Target Position: Configurable in source code

Files

• invK3d.c: Main simulation program
• invK3d_l.c: Inverse kinematics library
• glwindow.c: OpenGL window management
• glshapes.c: 3D shape rendering
• armIK.dat: Arm parameters
• angles.dat: Joint angle output

Documentation

• 工夫点.pdf: Technical improvements and features (Japanese)
• OpenGL_study/doc/: OpenGL learning materials

License

MIT License - see LICENSE file for details.

Encoding

UTF-8