Construction of robot′s threedimension virtual scene
and its motion simulation based on Java 3D
QIAN Xiaoping, YANG Qinghua, XUN Yi, BAO Guanjun
(Key Laboratory of E&M, Ministry of Education & Zhejiang Province, Zhejiang
University of Technology, Hangzhou 310032, China)
Abstract: Aiming at the construction of visual virtual environment for robot′s motion simulation by general methods is not webbased, the technology based on Java3D and VRML was discussed and adopted. VRML files were imported into the scene graph to be assembled through the Loader interface. Then, the method of applying the swing event model of Java and the Java3D objects such as Interpolator and Alpha was researched and adopted to realize the simple humancomputer interactive operation.Finally, the fourdegrees robot in our laboratory was given as an instance to illustrate the interactive visual environment based on Java3D for robot, then standard DH method was used to analyze the  forward kinematics and inverse kinematics so as to realize robot′s motion simulation. The results indicate that the threedimension motion simulation system based on Java3D is vivid and is easy to transmit through network,can realize the expected goal. This research work has great application value in robot′s simulation.
Key words: threedimention virtual scene; VRML; Java 3D; motion simulation; humancomputer interaction