Research And Design For The Simulator And Offline-programme System Of Transfer Robot Based On OPENGL

With the development of the industrial robot application environments, the require ofrobot off-line programming is getting higher and higher. Programming efficiency, safety andconvenience is all highly demanded. Simulation technology can provide a safe, reliable,flexible and convenient environment for off-line programming.In this paper we carry through these researches: First we do research and preliminarydesign based on the need of project and the actual situation. Second, we build athree-dimensional simulation of the palletizing robot working scene. Then we achieve themovement and physics simulation for robot components, kinematics and interaction with theenvironment. Next, we provide two different input methods including the simulatingdemonstration method and automatic planning method to make users able to accuratelyachieve programming and simulation for palletizing robot. At last, we transform the result torobot programming language to implement the robot’s real-time contro1.