Research And Realization On Robot Process Simulation Based On Virtual Reality

With the rapid development of computer technology, virtual reality technology and robotics, how to optimize the combination of these new technologies and use them in manufacturing industries, has become the core of modern manufacturing development.Process route is unscientific, workpiece clamping is unreasonable and machining parameters are selected inappropriatly in the processing.Such issues may seriously affect the quality and performance of the production.The best way to solve these problems is virtual reality processing before the production start to produce, discovering and modifing the system design and control deficiencies timely, so as to achieve shorter cycle of product development,and to avoid a waste of time and resources.During building object modeling in the virtual processing, The boundary of point clouds is not only the important geometry feature of surface, but also the definition domain to solve the surface. It plays an important role in the reconstruction of surface.;On the other hand, path planning of the processing of the industrial robot is one of the key technologies which need to be solved.As The boundary of point clouds of an object-oriented processing of robot manufacturing is extracted difficultly, and to achieve path planning of the process of the robot is more complex, in this paper , the boundary extraction of point clouds and trajectory planning of the robot are studiedThrough analysising and studying the original algorithm of extracting the boundary of point clouds , we find that the original algorithm is relatively slow for mass-level point clouds.For this problem, we adopt to change the const K into the variable K on the basis of the original algorithm and to add the threshold. Boundary extraction algorithm of point clouds on non-closed free surface is proposed.Experiment results show that the improved algorithm has not only higher computing efficiency ,but can also express the boundary feature of surface more precisely.Based on the principles of robot kinematics,we conclude method to trajectory planning of robot in the Cartesian space. It includes approximation of the processing path of the three B-spline curve, computing location and posture of the mid-point of processing path, and generating process path.Four process paths are planned on the experimental platformWe design and implement a machining simulation system of industrial robots based on VC + +6.0 and OpenGL in Windows XP environment. robot performance can be tested without genuine robot.