Abstract
This study, using the KUKA KR 150-2 six-axis robot manipulator configuration, adopted the Denavit-Hartenberg notation to build relevant kinematic mathematical model so that subsequent forward and inverse kinematics could be derived. Borland C++ Builder was employed to program the simulation interface, transforming the tool path files generated from hyperMILL CAD/CAM software into readable formats by robot manipulators. Moreover, OpenGL was used to complete the kinematic simulation of robot manipulators. Finally, this study adopted the solid cutting simulation software VERICUTÃ’ for further verification and comparison. Result indicates the effectiveness of the proposed scheme.
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