Study Of Middleware And Virtual Reality Based Heterogeneous Robot Job System

As there is no uniform standard for robot design and manufacturing in the world,robots made by different venders are hard to interoperate and interchange, there is no industrialization scale production,on the whole robot application is expensive,hard to scale and integrate.It is urgent need to promote standardization and modularization in robot field itself.With the promotion and development of industrial production automation, FA,CIMS,FMS and AMS integrated with robot are becoming more complex and heterogeneous,these systems are often composed of different operation platforms,versatile control methods and various job representations.How to coordinate and integrate distributed heterogeneous resources effectively, transparently and flexibly has become bottleneck of modern manufacturing and robot application.Middeware is the best option for robot standardization and modularization,it provides mechanism to solve heterogeneous problems among robot system. Robotics middleware is in initial stage on the whole.Modern manufacturing pipelines are composed of robots and digital controlled devices,when business and production changes,the robot or device's role and function changes along,it often brings changes and adjustment of robot jobs and device programs,and the corresponding verification and integration.In traditional ways,robot jobs are teachings and plays,which is time-consuming with low efficiency,and the maintainer has to be specifically well trained and experienced.It has been necessary and trend to realize job system for robot and its peripheral devices that can integrates robot system design,robot job edit and verification with friendly visual ways.To solve the above problems and trends listed,the paper takes an approach combining middleware and virtual reality to construct robot job system, integrating CAD/CAM,robot pipeline design,job simulation and supervision.The paper's research includes:1.Study of OMG CORBA and Java RMI specifications,IIOP protocols and standard CORBA services,then by using ACE/TAO,designs and implements middleware architecture for distributed heterogeneous robot application on Windows and Linux.Then verifies the design by experiments.To promote the system's performance,the paper analyze POAs and Servants.2.Defines and encapsulates robot interfaces by CORBA IDL,then verifies the implementation on the system's server side and client side.3.Encapsulates OpenGL with C++ by object-oriented methodology,designs and implements a VR-based and middleware-based universal robot simulation system.The system can be used to integrate with and verify CAD design,or be used in virtual manufacturing,assembling and to edit,simulate and verify robots' jobs.4.Kinematics model of Motoman UP6 is studied,the forward and inverse solutions are given,the criteria to select feasible inverse solution is prompted.Industrial robot and mobile robot oriented robot job system is studied.Timed PetriNet is used to verify distributed multiple robot jobs in production line.The paper's main achievements can be summed up as follows:1.The paper's work advances in domestic robot middleware research.It's the first time in the field that a two-tier robot middleware system is designed,and the experiments verify the design that it erases heterogeneous problems among robot system,the system has good adaptivity,is extensible.2.It's the first time systematically that a comprehensive robot middleware application system is designed and implemented,it is used to integrate and interoperate within and between distributed heterogeneous robots that have diverse job forms,different degree of freedoms,different communication protocols,different operation systems and programming languages and different control interfaces and models.The system integrates and demonstrates robot job management and simulation and virtual assembling by way of middleware systematically.3.It promotes the design of "middleware-based distributed mobile robot job dynamic-management",it separates job logic and job running scheme,the robot's job can be provided as CORBA object service,it helps to manage mobile robot jobs on line transparently.