| 6DOF Industrial robots have been widely applied to industrial production, aerospace, machinery manufacturing and other fields. This paper introduces the present situation and tendency of the development of industrial robots in the domestic and overseas, and through kinematics and dynamicsanalysis and trajectory planning of the six degrees of freedomwelding robot, the development and application of three-dimensional teaching simulation system of the robot is completed.In this paper, D-H coordinate systems of the robot are set up, and robotic forward kinematics and inverse kinematics calculation formula is deduced. Through the analysis of the speed of six degrees of freedom robot, jacobian matrix model is established. And the workspace of the welding robot is analyzed. Through the establishment of the robot task space and joint space trajectory constructor, three dimensional space straight line, arc, spline curve structure equationis deduced. In order to achieve the flexibility of operation, five times polynomial interpolation is used to construct smooth trajectory of the task space.This paper discusses the software development process of the simulation system. The simulation of industrial robot teaching/reappearance is done with full use of the real-time interactivity of OpenGL. Through the simulation system, online teaching of six degrees of freedom welding robot and dynamic simulation of the motion trajectory of the robot are realized. The specific implementation process of the key algorithms, such as the kinematics calculation system, the trajectory planning system and dynamic display function of the teaching simulation software, is given. Finally, the research present situation and development prospect of the topic are summarized and prospected. |
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