Research and Realization of Robot Experiment System Based on Virtuality and Actuality

Based on Virtual Robot Experiment Platform (V-REP) and real-time controller, a universal robot simulation experiment system is constructed which is based on virtual reality and physical model. The robot real-time control system and the virtual simulation system software architecture are given. The robot kinematic and dynamic model is established, the software algorithm and interface of the virtual simulation system and control system are designed. The simulation experiment verifies the rationality and correctness of this robot experimental system.