The Research Of The Control Technology On Virtual Teaching Glazing Robot

Glazing robot widely used in the production of ceramic products replaces glazing workers,which improves the quality of the ceramic products. Therefore, it is of great significance to develop suitable methods for virtual teaching. In research and development of virtual teaching for the robot, virtual implementation technology is applied in simulation environment to virtually teach glazing robot,by which a complex trajectory planning is complemented. Then virtual teaching enables operators to implement of the robot and playback in offline teaching environment, so the conversion of code is completed.By using the kinematics principle to establish the mathematical model of the robot body, and the mapping between the coordinates of the map coordinate values through the homogeneous coordinate transformation, the relationship equation of robot kinematics positive solutions is concluded, which is served as the basis of development of teaching software.Acoording to the characteristics of the virtual teaching, C language is applied in VS 2010 environment and standard graphic interface Open GL is used to develop the teaching system, upon which a 3D virtual model is established. Based on the outling of the greenware model, the general trajectory planning is completed.The utility libraries of GLUI is used to complete the settings of display pixels, the lights of the virtual environment, viewing angle, and environment roaming. Besides, interface liberary of GLUI is applied to develop the control surface in line with the teaching charateristics. According to the structure characteristics and working space of glazing robots, a 3D model is rendered and a teaching auxiliary plane is established, and then human and computer interaction is accomplished with the input of virtual teaching equipment.In the end, the virtual teaching system with five degrees of freedom for glazing robot is developed, and in the process of teaching, a variety of teaching mode can be developed as well, which is able to meet the teaching demand of various greenware airfacts to the largest extent.Virtual glazing robot, by completing interactive movement under the law of kinematics and teaching in multi- model, can meet the need of greenware aircrafts. With the planned path projected on screen by means of virtual technology, the result of teaching can be manifested with the movement simulation of software, by which the feasibility of teaching system and the accuracy of computing methods can be proved.