| Industrial robots are multi-joint robots or multi-degree-of-freedom robots for industrial applications.With the development of manufacturing industry in the direction of automation and intelligence,the application areas and scope of industrial robots is expanding and in people's lives and production played an irreplaceable role.However,there are few physical robots for teaching and training in colleges and universities,which can't meet the students' demand for physical robot operation,which limits the teaching of robotics in colleges and universities.Therefore,the study of robot virtual simulation system is particularly important.Although many researchers have done a lot of work on robot offline programming and virtual simulation,and developed a series of simulation software,there are simulation software and supporting the use of the robot,can't be applied to other types of robots.In addition,the physical robot prices are high,the operation is not convenient and other issues on the university set up a robot course also caused some inconvenience.Based on the needs of practical industrial robot training,this paper summarizes the background of this research and the development of industrial robots at home and abroad,and discusses the research status and research significance of robot virtual simulation system.Then,This paper analyzes the implementation principle of real-time Ethernet EtherCAT in robot virtual simulation system,and realizes the communication and control of robot by setting the master and slave station of EtherCAT and using EtherCAT data frame and message addressing mode.The controller system through the EtherCAT protocol to establish a variety of control parameters and command data communication,and establish industrial robots control communication system architecture.In order to study the trajectory planning and simulation of the robot,the kinematic basis of the robot is studied.The coordinate transformation of the robot in the process of motion is discussed.The parameters of the connecting rod of the robot are obtained by the D-H parameter method,and the kinematics equation and the inverse kinematics equation of the robot are obtained.In the aspect of robot trajectory planning,the paper analyzes several algorithms of trajectory planning,including cubic polynomials and quintic polynomial interpolation in joint space,linear trajectory interpolation algorithm and circular trajectory interpolation algorithm in Cartesian space,and Robotics Toolbox is used to simulate the robot's trajectory planning using the fifth-order polynomial interpolation algorithm.Finally,the development of industrial robot virtual simulation platform is introduced.The virtual simulation platform is a set of robot virtual simulation system based on the 6-DOF industrial robot model,Unity 3D as the development platform,and based on the EtherCAT fieldbus,to realize the motion simulation of the robot.The software part of the virtual simulation platform is designed in the Unity 3D compilation environment using the C#programming language.The main function of the simulation system is that the robot in the simulation software can carry on the motion simulation separately under the control command,truly reproduct the robot movement joints and realize the motion simulation;The most important function is to realize the virtual robot in the simulation software while controlling the movement of the solid robot Movement,complete the same trajectory,to achieve real-time consistency.In this paper,the virtual simulation platform is built by the virtual simulation software and the robot control system,and the simulation system design of this paper is verified experimentally.The experimental results show that the simulation system can realize the synchronous motion of virtual and realistic robots,and the movement angle of virtual and solid robot is basically the same in the process of movement,which can meet the basic requirements of teaching and training. |
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