：以MOTOMAN—SV3X机器人为原型，针对遥操作虚拟预测环境建模的需要，首先将机器

人进行分解．在3DS MAX中建立各个局部几何模型，然后在Visual C-4--4-6．0环境下读取模型参

数。借助OpenGL图形库建立机器人及其工作环境的几何模型，并建立机器人运动的层次关系，实

现虚拟从机器人的平滑运动显示。最后，成功完成了虚拟环境中物体抓取的仿真实验。该方法将

3DS MAX的强大功能与OpenGL的灵活交互相结合，满足了虚拟预测环境建模的形象和逼真的要

求，缩短了开发周期，同时具有良好的人机交互功能。-: MOTOMAN-SV3X robot prototype, for teleoperation Modeling virtual predict environmental needs, the first robot decomposition. The establishment of local geometric model in 3DS MAX and then read the model parameters in Visual C-4- 4-6.0 environment. With OpenGL graphics library to establish the geometric model of the robot and its working environment, and establish hierarchical relationships of the robot movement, virtual display from the smooth movement of the robot. Finally, the successful completion of the crawl of objects in the virtual environment simulation. The method the 3DS MAX powerful OpenGL flexible interaction combined to meet the virtual predict environmental image and realistic modeling requirements, shorten the development cycle, and also has good human-computer interaction.