A Six-axis Robot Kinematics And Trajectory Planning Simulation System Based On OpenGL

With the improvement of the industrial,the automation and intelligence of industrial production have become an irreversible development trend.It is an important part of industrial upgrading that the industrial robots used to various fields of industrial production.Therefore,the research on industrial robots has become one of the most popular topics in recent years.This thesis designs a simulation system for robot kinematics and trajectory planning based on the industrial six-axis robot model.The main content includes the following aspects:A three-dimensional simulation environment is built based on C# and OpenGL.An improved D-H parameter method is used to establish the linkage coordinate system of the robot,the forward kinematics model of the robot is established,the forward kinematics solution of the robot is obtained.The inverse kinematics of the robot is analyzed through the relationship between the end speed of the robot and the joint speed based on the forward kinematics model of the robot,the speed Jacobian matrix of the robot is established,and the establishment of the Jacobian matrix is optimized by the spin method.The Gauss-Selder iterative method is used to replace the inversion of the Jacobian matrix,which avoids the inversion operation of high-order matrices and improves the speed of solving the inverse kinematics solution.Common singularity of robots is analyzed and the judgment methods are given.The path planning problem in the joint space and Cartesian space of the robot is analyzed,and the algorithm of trajectory planning is designed.A virtual teaching system of the robot is designed based on joint translation and pose translation instructions,and an offline programming language for robots is developed based on the LUA script.This thesis successfully builds a six-axis robot simulation system combines virtual simulation technology and industrial robot kinematics theory,which verifies the correctness of the robot forward and inverse kinematics algorithm and the feasibility of the proposed trajectory planning algorithm.A virtual teaching system is designed to realize the virtual teaching of the system based on the trajectory planning algorithm.The offline programming function of the robot is designed using the LUA script language,which reduce the using difficulty of the simulation system and improves the practicability of the simulation system.