LP TRNH M PHNG

ROBOT V H C IN T
ME4291
PGS. PHAN BI KHI &
TS. PHAN MNH DN
B MN C HC NG DNG, VIN C KH
1

Trao i
Lin lc l cha kha thnh cng
Mi thnh vin ng k tham gia vo
nhm tin ca lp
Gi v nhn cu tr li ca mi thnh vin
qua email
Download bi ging v cc ti liu, phn mm
2

Nhm tin ca lp
http://groups.google.com/group/mophongrobot

Ai bit kin thc sau?

M hnh ha bng CAD (AutoCAD,
SolidWorks)
S dng phn mm tnh ton (Maple,
Matlab)
Lp trnh Visual C++/MFC

Ni dung mn hc
Tng quan v m hnh ha v m phong
Cc ngn ng lp trnh, cc phn mm, th
vin phc v qu trnh m phong
Tao c s d liu cho qu trnh m phong
Lp trnh & Ti u ha m phong
Tch hp v ng gi cc phn mm m phong
Thc hnh m phong trn mt i tng c
th.
5

Phng php lm vic

Nghe ging: 10 tun
PGS. Phan Bi Khi (5 tun): tng quan, phng
php m hnh ha robot, cc phng php xc
nh quy lut chuyn ng
TS. Phan Manh Dn (5 tun): cc phn mm m
hnh ha 3D, lp trnh ha, tch hp cc
module chng trnh, ng dng m phong i
tng c th

Thc hnh: 5 tun

Chia nhm lm bi tp m phong h c th
6

Nguyn tc chung m phong

trc quan robot & h CT
Xy dng m hnh c hc

Xy dng m hnh ton hc &

phng trnh m t hot ng
Xy dng m hnh th hin i
tng bng phn mm thit k
3D
Lp trnh ha th hin v tr
cc vt ti tng thi im

PGS.
Phan
Bi
Khi

TS.
Phan
Mnh
Dn
7

Cc phn mm thit k 3D
3D CAD (Computer Aided Design)

AutoCAD
SolidWorks
Pro Engineer
Catia
Inventor

AutoCAD
c s dng thng dng nht, manh v thit
k v th hin bn v k thut
M hnh ha 3D khng thc s trc quan

SolidWorks
Manh v lin kt vi cc file tnh ton, truy
sut gi liu ca cc chi tit thit k thng qua
bng tnh
C c module m phong v tnh ton ng
hc ca cc kt cu

10

Catia, ProEngineer, Inventor

Catia
Giao din p, d dng
Kh nng tnh ton bn ca cc chi tit thit k manh

ProEngineer
Dng ph bin nht khi thit k khun mu

Inventor
Thit k tham s
Kh nng th hin vt liu trn chi tit rt trc quan
11

AUTOCAD 3D CN BN
BI GING CA I HC AUTODESK

12

Trao i thng tin gia cc phn

mm tr gip thit k (CAD)
Cc phn mm thng mai dng cc dang tp tin
ring
AutoCAD (.dwg), SolidWorks (. SLDPRT)

trao i bn v gia cc phn mm CAD, mt

s dang tp tin thng c s dng
DXF: Xut cc bn v AutoCAD, th hin y cc
i tng AutoCAD. Hu ht cc phn mm CAD h
tr. Phc tap.
STL: Chun c tt c cc phn mm CAD thit k.
Ch cha th hin ca i tng. Khng sa i c
i tng.
13

V d file STL
Trong AutoCAD: v khi tr bng lnh Cylinder
Xut ra tp tin STL bng lnh STLOUT, chn
dang vn bn (ASCII)
M tp STL u ra

14

V d tp STL u ra
solid AutoCAD
facet normal 0.0000000e+000
0.0000000e+000 1.0000000e+000
outer loop
vertex 1.0000010e+000
1.0000010e+000 1.0000010e+000
vertex 1.0000000e-006
1.0000010e+000 1.0000010e+000
vertex 1.0000010e+000
1.0000000e-006 1.0000010e+000
endloop
endfacet

facet normal 1.0000000e+000

0.0000000e+000 0.0000000e+000
outer loop
vertex 1.0000010e+000
1.0000000e-006 1.0000000e-006
vertex 1.0000010e+000
1.0000010e+000 1.0000000e-006
vertex 1.0000010e+000
1.0000010e+000 1.0000010e+000
endloop
endfacet
endsolid AutoCAD
15

S dng tp tin STL trong m

phong 3 chiu
Trong cc chng trnh m phong trong
chng trnh ny, cc tp tin STL dang vn
bn s c s dng ch yu v tnh n gin
ca chng
Khi , kt qu tnh ton v tr cc vt trong h
s c s dng hin th cc vt, t c
c m phong trc quan ca c h

16

Cc Giao din lp trnh (API)

ha 3 chiu dng trong m phong
C hai Giao din lp trnh (API) ni bt trong lp trnh
ha 3 chiu: OpenGL v DirectX
OpenGL l giao din m, c trn hu ht cc h thng
my tnh (Windows, Mac OS, Linux)
DirectX l giao din bn quyn ca Microsoft, c trong
cc h thng chay h iu hnh ca hng ny
(Windows, Xbox, Windows Phone)
OpenGL thng c dng ph bin hn trong cc h
ha chuyn nghip (lm phim, m phong khoa
hc) trong khi DirectX c dng nhiu hn trong lp
trnh game
Hu ht cc card tng tc ha h tr c hai
17

Quy trnh chung m phong

trc quan h c hc
Xy dng m hnh c hc & thit lp PT C
(Maple, Matlab)
Gii phng trnh chuyn ng (PP s trong
C++)
Xy dng m hnh th hin i tng bng
phn mm thit k 3D (Solidworks, Inventor)

Xut th hin tng vt ra tp STL

Lp trnh ha th hin v tr cc vt ti tng
thi im (OpenGL hoc DirectX trong C++)
18

Phn mm
M hnh ha c h: Maple t R13
Thit k 3D: AutoCAD 2010 hoc SolidWorks
2009
Cng c lp trnh: Visual C++ 2008 hoc 2010

19

Cu hoi?