| The six-degree-of-freedom robot is a typical industrial robot that is used more and more widely in industrial activities.Industrial robot technology is a high technology in the field of automatic control.Research in this field is very active.With the continuous growth of industry demand,application coverage of Industrial robot technology is becoming more and more widespread.The level of research and application of industrial robot technology has become a measure and an important symbol of the level of national automation.The rapid development of industrial robot technology has promoted the development of robotics technology,and at the same time,it has given a powerful impetus to the development of industrial robot education.Robotics education is an urgent need to cultivate engineering and technical personnel.Six-degree-of-freedom industrial robots have a large market share and broad prospects for development.Colleges and educational institutions attach great importance to the teaching and application of six-freedom robots.Typically,the mechanical assembly of the six DOF robot is represented by a six-degree-of-freedom serial manipulator.The related robotics courses such as “Introduction to robots” opened for students in general colleges and universities are based on series-structured robots.The relevant textbooks on the market are also the analysis and synthesis of serial robots as the main content.Therefore,the basis of robotics is mainly the learning of the mechanical properties of series structure robots.Traditionally,robotics learning,like other disciplines,relies on "standard classrooms." This standard classroom includes classroom teaching and experimentation.At present,robotic teaching experiments have some problems such as insufficient experimental equipment,the disconnection of theory and practice and lack of security.To solve this problem,this paper proposes the use of virtual laboratory technology to create a robotic virtual laboratory,which can provide learners with a suitable virtual experiment environment to help students learn theoretical knowledge.At this stage,virtual laboratories have the advantages of low cost,multi-authority,high flexibility,invisibility observed,and high security.The application of virtual laboratory in teaching has many characteristics,such as interactive operation,expansibility,and security.These characteristics are unmatched by traditional laboratories.At the same time,virtual laboratories have many advantages such as high utilization and easy maintenance in experimental teaching.advantage.Many research institutes at home and abroad have established a variety of virtual laboratories and robot virtual laboratories according to their research and teaching needs.However,there are also some problems in their research and application:(1)Some existing robot simulation systems or robot virtual labs are not designed for the experimental application of robotics disciplines themselves but are used to study the comprehensive applications of robot systems,such as trajectory planning for robots or accomplishing certain tasks for robots.The optimization of the control algorithm does not help to learn the theoretical knowledge of robotics.(2)The mathematical model adopted by some robotic virtual experiment projects is too idealistic.It can only accomplish relatively simple theoretical experiments and does not have practical teaching application value.Therefore,the creation of a robotic virtual laboratory with a certain degree of complexity and authenticity that can complete a theoretical experiment with a certain degree of robotics has certain innovative and practical significance.In this paper,the six-degree-of-freedom industrial robot is taken as the research object,and the research is focused on the construction of a robotic laboratory development platform and the development of several core technologies related to robotics-related theoretical experiments.The main contents of the thesis include:Firstly,after consulting a large number of domestic and foreign references,the concept of virtual laboratory and virtual reality technology is described.The research status of virtual reality technology,virtual reality development software,virtual laboratory and robot virtual laboratory at home and abroad are analyzed;A large number of virtual lab cases and robotic virtual laboratory cases at home and abroad have found that the current domestic and foreign research projects on robotic virtual labs have problems of theoretical experiment insignificancy and simplicity of robot mathematical model.The robot virtual laboratory with certain complexity and authenticity that completes the theoretical experiment of robotics has certain innovative and realistic significance.Then the concept,technical model and theoretical framework of the virtual laboratory are introduced and the difference between virtual and simulation is elaborated.At the same time,the theoretical framework of the virtual laboratory is introduced from the theoretical part,technical part and application part.With a large number of virtual laboratory examples analyzed,four basic principles that need to be considered when creating a virtual laboratory are concluded.Namely,they are the general characteristics that a virtual laboratory should have.Based on these characteristics,the robot virtual laboratory is created from four aspects: functional analysis,performance analysis,content analysis,and structural analysis.The creation of a virtual laboratory architecture model guided by virtual experiment content and learning requirements is focused,including the development framework of the virtual robotic laboratory and the hardware and software systems of the robotic virtual laboratory.The robot virtual laboratory system based on Qt and Ogre3 D are introduced,including the use of corresponding development tools to achieve the virtual laboratory modular functions.The 3D model modeling method in the virtual laboratory was studied.The methods of rendering virtual robot model in the Ogre3 D virtual environment are introduced.Based on the above researched design flow of robot virtual laboratory,virtual laboratory framework model and robot virtual laboratory system based on Qt and Ogre3 D,the three virtual experiment systems of six DOF robot virtual laboratory are designed: coordinate transformation virtual experimental system,kinematics virtual experiment system of six DOF robot and dynamics virtual experiment system of six DOF robot.(1)The virtual experiment system of coordinate transformation.This section introduces the homogeneous transformation matrix and creates the corresponding mathematical model.Using the mathematical model above to build the virtual experiment of coordinate transformation,intuitive clear present Euler Angle in a 3D environment,then the relation between the Axis/Angle representation and the unit quaternion is expressed with the homogeneous transformation matrix.The spatial significance of the DH parameters is explained intuitively after that.(2)The virtual experiment system of six DOF robot kinematics.This section introduces the mathematical process and the virtual experiment of the six degrees of freedom robot connecting rod description.The mathematical model of inverse kinematics of robot is analyzed,and the virtual experiment of inverse kinematics is created.Analyze the working space of the robot,and create a discriminant algorithm in the space of the robot working space,and create the related virtual experiment simultaneously;Virtual experiment and demonstration of robot velocity analysis is carried out by Jacobian matrix;The singularity of robot is analyzed and the robot singularity virtual experiment system is created.(3)The virtual experiment system of six DOF robot dynamics.This section introduces the establishment of a dynamic model of the robot based on Lagrange formula and the positive and inverse solution of dynamics problem based on analysis of robot dynamics parameters.Then this part creates virtual experiment system of robot's dynamics using the dynamic model of the robot and expounds the influence of parameters of robot dynamics of robot dynamics during exercise,and then an example is presented.Finally,some conclusions of the research work of the virtual laboratory of the six DOF robot manipulator are summarized and the research direction to the future in this area are brought out.In general,the innovation of this article is as follows:(1)a method of establishing a general virtual laboratory is studied,which is not only suitable for the establishment of Virtual Laboratory of robotics but also plays an exemplary role in other subjects,such as machine theory and theoretical mechanics.(2)combining robot technology with virtual experiment technology,based on the theoretical framework of virtual experiment system,the framework of robot virtual experiment system is put forward,and the realization of robotics virtual experiment system is studied.(3)in order to meet the needs of the virtual laboratory system visual telepresence,force telepresence and auditory telepresence,virtual scene creating physical modeling method of fast and efficient methods and objects within the scene are researched;realistic mathematical physics has the characteristics of the virtual robot in the virtual environment,robot kinematics and dynamics model suitable for study the virtual experiment system.(4)study the representation method of key quantities in robot virtual experiment,and analyze the input methods and display methods of key variables in different interaction states from the perspective of the virtual experiment.(5)the robot virtual laboratory system based on Qt and Ogre3 D is set up,and the design and application of several theory experiments in robotics are completed. |
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