| With China’s industrial upgrading as well as disappearence of demographic dividend, industrial robots are gradually gaining popularly in manufacturing sector. Industrial robots have advantages of flexible producting, reducing labor intensity, protecting worker safety and saving labor cost, as indispensable advanced manufacturing automation equipment. Moreover, OLP(off-line programming) and simulation system can realize virtual operating simulation and off-line programming of robots in computer environment, helping improve robot operational efficiency and improve operating quality and ensuring worker safety.Study object of this subject is a OLP and simulation system for6-axis industrial robot, which consists of following modules:HMI(Human machine Interface), algorithm library, status monitoring, data analysis, data storage and communication interface. Among them, algorithm library is the core, in conjunction with other modules to complete editing jobs off line. HMI consists of job module and simulation display module. Among them, jobs are edited off line according to robot language by job module, while operating process is displayed virtually by simulation display module. Joint limiting circumstance is monitored in operating process by status monitoring module. Other module like data analysis module is used to analyze joints changing, with data memory module for storing data and communication interface module for communication between PC and manipulator motion control board. This paper conducts the following studies:In the second chart, system frame and associated control algorithms of manipulator are studied with a starting point which focuses on basic composition of OLP and simulation system and control theory of manipulator.Firstly, composition and frame of system are analyzed while function of each module is clarified. Mathematical model of6-axis manipulator is introducted while position-orientation description of space rigid, homogeneous coordinate transform and linkage coordinate system establishment are descriped in detail, as well as a D-H mathematical module of SIASUN_V1manipulator used in project is established. Thus, forword and inverse kinematics theory is expounded and an inverse kinematics algorithm based on block matrix is derived. Multiple solutions situation of inverse kinematics is analyzed while method of determing a unique solution is offered.Secondly, in order to implement trajectory planning, position-orietation of manipulator end planning and joint angle planning are discussed respectively. Among them, for position planning, line, arc and NURBS freedom curve in space planning algorithm are introduced. For orietation planning, equivalence of orientation planning is analyzed with descripting method of orientation based on unit quaternion, wihle algorithm of C2continunous and controllable orientation planning is offered. For angle planning in joint space, planning principle of5order polynomial which is C2continuous is introduced.Then, related development or toolkit like LabVIEW Robotics and MathScript RT corresponding to project requirement are introduced.In the third chart, designed ideas and implemented meathods of each module in OLP&simulation system are discussed in detail.Firstly, according to actual project requirements, system frame is designed and modules are divided. A program of " LabVIEW+Robotic+Matlab+CAD" is determined as a software developing plat, with programming mode and data structure elaborated in detail.Secondly, simulation module is designed and implemented. For simulation module, its building mode is provided while building process of virtual scence and manipulator are offered. For algorithm library, forword kinematics, line, arc, NURBS freedom curve planning in space and angle planning in joint space are implemented and verified. Inverse kinematics of block matrix algorithm is implemented and verified based on D-H model of SIASUN_V1while the algorithm of C2continous and rotation controllable orientation planning is implemented and verified based on Take_Robot_V1manipulator. For status monitoring module, principle of joint liminting is given while detailed analysis and implementation about limiting treatment in process of manipulator end position debugging, end orientation debugging and single joint debugging are carried out in detail. For job module, Robot language-related content is given with a set of robot control commands and motion commands setted, according to project requirement and actual process, as well as a operation editing environment is constructed. In addition, design and implement of data storage, data analysis and communication interface modules are introduced briefly.In the forth chart, modules in OLP&simulation system are integrated, with position and orientation consistency between simulation and entity manipulator measured, as well as process of job editing are tested. Results show that position and orientation of simulation and entity are consistent and this system can complete editing operation like line, arc and rectangular trajectory etc off-line. |
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