Research And Design Of Serial Rbbot’s Off-Line Simulation Software

The programming mode of industrial robot is mainly divided into teaching program and off-line programming. The factory used teaching programming more more often at present. It is shown that the off-line programming is the trend to instead teaching programming. In order to realize the whole robot collision free trajectory planning automatically, the offline simulation software which is writed based on C++ and OpenGL in the paper.Use the OTC AII-V6 robot in the laboratory as the experimental object. Establish its forward kinematics and converse kinematics. In order to realize visualization programming,the robot model is established in SolidWorks and converted to 3DS format then imported into the sofrware to assemble it,the obstacle model which is simplifed using the encapsulating box to the obstacle can be established in real time using the simple function of the OpenGL.And than, Design the Virtual teaching module to simulate the teach pendant of robot which can sdjust the robot’s position and attitude.Collect the obstacles’ datas to calculate the free C-space that the robot can be run.After that, the collision free trajectory is searched automatically with the use of A* algorithm.At last, establish the conversion module. The data of the collision free trajectory is converted that can be identitied by the robot control system. And then import it into the robot control system to run the robot to text the feasibility of the algorithm designed.the simulation and experimental results prove that the accuracy of the collision free trajectory can meet the actual needs, and prove the design of the algorithm is feasible.