Design And Implementation Of Industrial Robot Simulation Software Based On OpenGL

With the wide application of robot technology,the robot system is more and more intelligent and flexible.Robot simulation system as a tool for robot technology research,it plays a more and more important role in verifying the perfo rmance of robot system.At present,the powerful robotic company has their own dedicated simulation software,although very powerful,it is not open to the third parties,only limited to the company's hardware and software platform.Small and medium-sized enterprises in order to improve their market competitiveness,to meet market demand,it is necessary to develop their own simulation software.Therefore,in this paper,according to the needs of a robotic company in Foshan City,a six degree of freedom robot simulation software based on OpenGL is developed.The software uses MVC design pattern,it greatly improves the reusability and robustness of software code.In the simulation software,the research and development of the robot's visual simulation,kinematics,coordinate calibration,trajectory planning,teaching programming and so on are presented.Specific research contents are as follows:For the 3D model visualization module,using modeling technology based on OpenGL,completed the STL file model import;then the introduction of OpenGL display list technology to enhance the smoothness of the simulation;finally design animation module to support motion playback.In order to solve the problem of robot kinematics,the kinematics model of the robot is established by using the D-H parameter method;then the positive kinematics equation is established by the product of the transformation matrix between the links,the inverse kinematics equation is derived by using the Pieper criterion;At last,the paper introduces the evaluation function of the joint minimum rotation to solve the multi solution problem.Aiming at the problem of robot coordinate system calibration in simulation environment,firstly,the five point calibration tool based on the adjustment calc ulation TCP in order to solve the problem of obtaining the position of tool TCP in 3D simulation environment,the position accuracy of TCP is improved successfully;Then the three point calibration method based on user coordinate system is introduced to so lve the problem of UCS calibration.For the problem of robot trajectory planning,the interpolation algorithm of straight line,arc in Cartesian coordinate system is studied.Aiming at the development of teaching programming function,the teaching program is divided into two modules: offline teaching and program interpretation.For offline teaching,the function of manual teaching in four coordinate systems and teaching point operation has been developed;For meeting company's demand,for the program interpreter module,imitate ABB RAPID instruction to design a set of simple robot instructions,and use C language to complete the interpreter development.Finally,according to the working process of the simulation software,the module is tested.The results show that the simulation software is easy to use and has high reliability.