Research On Visual Simulation Of Robotic Palletizing Systems

In robot design and research, visual simulation technology which plays an important role, is widely applied in handling, loading, unloading and palletizing, etc. Based on the VC++and OpenGL programming tools, this paper sets up a visualization of palletizing robot simulation system, introduces the machine vision and multi-sensor fusion technology to research on visualization of simulation technology for palletizing robot. The main work in the paper can be summarized as follows:1. Kinematic analysisThe paper introduces the robot mathematics knowledge and establishes the kinematics equations of the RH6-A robot. A method of inverse kinematics is used based on D-H. Finally,the trajectory of robot palletizing process is planned.2. Research on simulation of palletizing robot.This paper introduces the importance of the application of virtual reality and robot visual servo system, describes the composition, working methods in detail, and builds the OpenGL the basic animation emulation based on the development environment of VC++6.0to complete the basic robot simulation.3. Camera and workpiece calibrationFirst, the paper determines monocular method fixed in the stationary position, and adopts Zhang Zheng-you camera calibration experiment, obtains the internal and external camera parameters. Then, by the image acquisition, feature matching and a series of operations, we obtain the coordinates of the center of the workpiece to rip accurately and avoid collisions.4. Visual simulation platform for robot palletizing system constructionThis chapter builds the modeling and simulation about robot, workpiece and environment, achieves the real-time animation simulation of palletizing robot.