The simulation of scara robot based on OpenGL and STL

The paper studies how to implement the motion simulation of scara robot, using Visual Basic 6.0 program language based on OpenGL and STL data model. After reading the STL data model, we can easily render the 3D model of SCARA using OpenGL. Then, according to the SCARA robot kinematics analysis, we can calculate the required joint parameters of the target and obtain the different pose of the robot in the movement. At last, by means of the double buffers of OpenGL, the motion simulation is implemented through redrawing and redisplaying the 3D model in different time.