OpenGL Based Experimental Platform for Simulation of Reconfigurable Planetary Robot System

Abstract

A 3D experimental platform for simulation of RPRS (Reconfigurable Planetary Robot System) is introduced. The architecture and the simulation technology of RPRS are also discussed. OpenGL and Visual C++ based modeling method has been used to establish the simulation platform. The principle of RPRS, the work space, the multi-robot motion coordination, and the system integration can be explored and verified by this platform. A multi-robot system has been used to verify the practicability of the developed platform. The effectiveness of the developed experimental platform and the architecture of RPRS are successfully demonstrated by the simulation results.