Robot simulation method and device, computing equipment and storage medium

Abstract

The invention relates to a robot simulation method and device, computing equipment and a storage medium. The robot simulation method is executed on a Web client side and comprises the steps that a description file of a unified robot description format of a target robot is determined; determining D-H parameters of the target robot based on robot parameter information in the description file, and rendering a robot simulation model of the target robot on a Web page of a Web client based on robot model information in the description file; establishing a homogeneous transformation matrix and an inverse transformation formula between the connecting rods of the robot simulation model based on the D-H parameters; and calculating the position and posture of the tail end of the robot simulation model by using the homogeneous transformation matrix, or calculating the position of each joint of the robot simulation model by using the inverse transformation formula.

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