Design And Realization Of Industrial Robot3D Simulator Based On ODE

At present, most of the simulation study on industrial robots and robot basedproduct lines, are according to special objects and tasks. The simulators with singlefunction and the use of them is limited. They are not adapt to the development ofindustrial robots and requirements of product line. In order to solve this problem, a3Dsimulation model of industrial robots based on ODE(Open Dynamic Engine) engine ispresented, and establish the production line system simulation model in this paper.A hybrid model based design solution of industrial robot simulator is presented.The hybrid model mixed by D-H model, graph model and ODE model. D-Hparameters about links are used to be human-computer interfaces, to avoid ambiguitywhen D-H parameters are used for tree structure and closed-chains robots, D-H modelis transformed to graph model, describe the robot by the characteristic of graph thatconnections between vertices are arbitrariness, ergodic the graph and complete thesimulator with ODE.The simulation model of product line is based on model of industrial robot. Themodel include device model and process model. Device model is composed by D-H,graph and ODE model. D-H model is base on D-H model of robot, identifier the deviceof links meanwhile; graph model is unconnected graph, the information of device areconnected components; ODE model establish virtual device in virtual space. Processmodel is based on Petri-net by Condition/Event mode, states of devices are conditionsand operation mode between conditions are events. Traverse Petri-net model and planetrajectory for devices, transform control variables to ODE, ODE drive virtual devicesto operate and complete virtualization production.Two simulation experiments about industrial robot model and product line modelare given. Simulation objects about industrial robot model are two different industrialrobots, action planning experiments are given. Simulation object about product linemodel is automatic clipping line, a virtual product experiment is given. Simulationeffects、videos and curves are given, the experiment results prove the effectiveness ofthe presented methods...