| With the development of the industrial robot technology, robot teaching pendant has been developed from the traditional simple command input and code display tool developed into one independent system with programming, teach, debugging, simulation, and other functions relatively, plays an important role in the robot control system. This paper developed an industrial robot teaching with the function of motion simulation by touch, and the key technology for the system is researched. The full text of the main work and results are as follows:1) Based on the functional requirements analyses of wireless touch teaching, planning a new type teaching pendant and the overall architecture and the development of the robot control system platform, select the iPad tablet and PC motherboard as a hardware platform of teaching pendant, uses Linux + Qt as software development platform, and the teaching of software system has carried on the overall planning and design.2) To complete the development of teaching pendant's software in the PC, and use the WiFi network to complete the remote desktop control function between the device and PC motherboard, realized the wireless touch teaching operation based on iPad.3) In view of the user habits and operation experience, combined with the design principles of human-computer interaction interface, design and develop the the user interface of teaching pendant.4) The development of teaching robot with motion simulation function is studied based on OpenGL, using 3ds Max to model the robot, and export the 3ds model file, then the 3d simulation model of robot was generated for OpenGL; Using the cubic polynomial interpolation and linear interpolation space for robot path planning, and combine the inverse kinematics of robot, the instruction of movement simulation was generated. |
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