| According to the industrial robot development situation, a simulation platform of welding robot operations for training or guiding production is proposed. This platform can simulate the actual welding operation process, but can also be used as the monitor line. The Structure of the system based on the theory of simulation, including modeling, motion data, job information and a virtual console.Mathematical model of the robot created by Robotics Toolbox which is extended in MATLAB. Kinematic calculation model combines FANUC(Inc.) M-10 iA robot technology parameters and the mathematical model, to solve the inverse kinematics equations through Robotics Toolbox functions. Robot body parts were drew in SolidWorks. According to the position of the relative movement, the parts were combined into an assembly. The virtual motor axial and rotation was configured through the Motion Analysis plug integrated in SolidWorks. The console programmed by LabVIEW associate the driving data calculated by MATLAB script to the virtual motor through NI SoftMotion plugins. Such a simulation robot is controlled by the virtual console program to follow welding job commands and the description of motion trajectory. Virtual Console program can setup welding job information, but also gather information through monitoring interface which is currently reserved.The influence of sampling accuracy in trajectory generation process was analyzed, including positioning accuracy and trajectory fluctuations. Sample accuracy of 25 mm of is obtained which can meet the requirements of the job simulation, and does not produce detectable track position error and fluctuations. A welding stroke of the school badge of Hebei University of Science and Technology were tested. The processes of simulation running reflects the intuitiveness of the platform operating, while providing a wealth of information. Verify the feasibility of the above theories and methods to achieve the desired concept of the system. |
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