【作者】 刘宇；

【导师】 聂俊岚；

【作者基本信息】 河北工业大学 ， 计算机应用技术， 2004， 硕士

【摘要】 随着科学技术的迅速发展，对能够实现多维(多于二维)移动或转动控制的多维控制器的需要越来越多。燕山大学与河北工业大学联合研制出新型并联结构六维控制器，该控制器可以应用于需要对三维移动和三维转动进行控制的各种场合。为促进多维控制器的进一步发展，实现用多维控制器控制三维实体的三维移动和三维转动，本文介绍了用VC++串行通信技术实现六维鼠标控制机器人模拟系统。 本课题采用面向对象的设计方法、应用UML统一建模语言进行建模、用基于OpenGL的VC++编程实现用六维鼠标控制机器人模拟系统。 本文概括介绍了实现系统涉及到的OpenGL、串行通信、面向对象技术和UML等知识。详细介绍了应用OpenGL函数的多种绘制过程和渲染手法实现机器人和三维场景的绘制和渲染。本文还分析了Windows下串行通信的两种方法，并对本系统应用MSComm控件实现六维鼠标与机器人模拟系统的串行通信做了详细介绍。 本文实现了用六维鼠标对机器人进行三维移动和三维转动进行控制的机器人模拟系统，这将对今后基于该六维控制器开发多维机器人控制系统有所帮助。当然系统仍存在不足，在内存释放和触物真实性上还有待改进。更多还原

【Abstract】 With the rapid development of science and technology, more and more multidimensional controllers which can control three-dimensional move and three-dimensional rotation are demanded. Yanshan University and Hebut University of Technology jointly develop connecting the sextuple controller of structure in parallel new-typly. It can applied to all kinds of occasions controlled to three-dimensional move and three-dimensional rotation. In order to accelerate the development of multidimensional controllers and realize controlling three-dimensional move and three-dimensional rotation with multidimensional controllers, the introduction of this paper realizes with VC++’s serial communication technology that the sextuple mouse controls the simulation system of the robot.We use the OOP, UML, OpenGL and VC++ to realize the robot simulation system which is controled with six dimensions controller.This paper introduces the technologies relate to the system, including OOP, UML , OpenGL and the serial communication. It studys the methods of drawing the three-dimensiona scenes. This paper also analyses the two methods about the serial communication and introduces the ActiveX MSCommm detailed.This system has realized controlling robot simulation system with six dimensions mouse. It will afford some help to the control system of multidimensional robot. Certainly, the system also has some shortcomings, such as memory release and the reality when the robot knocks against the barriers.更多还原