Research On Robot Offline Programming Simulation System And Its Trajectory Planning

Robot programming is mainly divided into teaching programming and off-line programming.Offline programming has more advantages than online programming.The key technology of off-line programming is studied in this paper.First of all,we analyzed the background of the off-line programming simulation system and the purpose and significance of the research.We studied the research status of commercial offline programming simulation system and off-line programming simulation system of universities and research institutions.Secondly,the message mapping mechanism and application framework of MFC are studied.The running process of MFC application is analyzed,and the application framework is completed by building dialog boxes,adding various controls,adding messages and message processing functions.The three working principles of OpenGL and its advantages and disadvantages are studied.By analyzing the OBJ files in the 3D schema file format,the 3D model of the robot is established by using the open source library of OpenGL in the MFC framework.Thirdly,AUBO robot with six degrees of freedom as the research object,the mathematical model of robot by using the method of D-H parameters,get the transformation matrix between adjacent coordinate system,so as to get the kinematics formula of the robot,then the robot inverse kinematics formula of isolated variable method.The forward and inverse kinematics algorithm is added to the off-line programming simulation system.Fourthly,the trajectory planning of the joint space is studied,and the three polynomial interpolation and five polynomial interpolation of the over path points in the program are completed.The trajectory planning of Cartesian space is studied,and the spatial linear interpolation and arc interpolation in the program are completed.The genetic algorithm and chaos algorithm are analyzed.Combined with the advantages of the two algorithms,the genetic chaos optimization algorithm is applied to carry out the optimal time trajectory planning.By simulating in MATLAB,the desired result is achieved.Fifthly,the overall design of off-line programming simulation system was studied.The main operation interface of the system was designed.The remote detection module and trajectory planning module of the system were completed.Simulation experiment was carried out with the optimal time trajectory planning module as an example.This verifies the correctness and effectiveness of the system.