An Integrated Control System For Industrial Robots Based On Virtual Reality

With the deepening research on robotics and expanding field of robotics, industrial robots is playing an increasingly important role in our production and life, especially the development of computer technology, improve an broader room for the development of robots. The system with VC++6.0 and OpenGL graphics combined with the robot kinematics and dynamics, developed a comprehensive control system for six degrees of freedom spraying robot. The main results as follows:In this paper, detailed analysis the integrated control system, this system consists of nine modules, as follow:the object modeling module, parameter setting module, database module, the spray gun trajectory generation module, the robot trajectory generation module, human-machine interaction module, analysis and display module, the operating instruction generation module, communications and interface module.This article studied the theory of robot kinematics further and gave the detailed derivation of the kinematics theory. Then establish the pose matrix of three-dimensional model for the six degrees of freedom spraying robot.Studied the knowledge of OpenGL, integrated VC++6.0 and OpenGL effectively. The implementation of the system, functional description of each function module, described the system design procedure, and some code in OpenGLThe system is mainly to model a three-dimensional for the six degrees of freedom spraying robot and dynamic preview of the entire spraying process, finally determined a robot trajectory to meet the needs of actual production. Thus shorten the development cycle of the robot program. This system improved the spraying precision and reduced the production costs, so our system is a good economic and acceptable platform.