Research And Development For Simulation System Of Industrial Robot Based On Virtual Reality

In recent years,the applications of industrial robots have been more and more,and China has become the world's largest industrial robot market.As an effective tool for analyzing and studying the robot,the simulation system of the industrial robot plays an important role in the teaching and the practical application of the robot.Based on the virtual reality technology,a 3D virtual simulation system of the typical 6R industrial robot has been developed from the perspective of teaching and application,with the Unity3D platform.In order to enhance the authenticity of the virtual scene and improve the user experience,the system used the 3DMAX to deal with the model.And in order to meet the needs of teaching and training,four representative examples of industrial robots have been designed to help the users study and operate the robot.Based on the analysis of the existing real robot teaching system,a generic virtual teaching system has been designed.And the simulation of the robot teaching system of GSK has been realized successfully.In order to facilitate the teaching work and improve the system interface layout,a method of transplanting the virtual teaching pendant panel to the mobile terminal has been proposed.Through the RPC,the virtual teaching pendant panel in the mobile terminal can control the virtual scene.The key algorithms of robot kinematics and trajectory planning have been studied.The inverse kinematics of GSK-RB08 robot has been derived and the trajectory planning of joint space and Cartesian space has been carried out.And the concrete steps to realize real time control of virtual robot have been given.The key technology of the interpreter of industrial robots has been studied,and a robot instruction interpreter system which can be realized by manual programming has been designed.The interpreter is simple and efficient,without the help of other software.