Research On Web3D Monitoring System For Industrial Robots

Robot technologies are high-tech application technologies which integrating mechanical,electronic,automation control,computer technologies and so on.With the rapid development of robot technologies,industrial robots have been widely used in cutting,handling,welding,installation,detection and so on.Therefore,the study of related theoretical knowledge and technologies about industrial robots has a very important significance for the development of industrial automation.Based on the OPC communication protocol and WebGL technologies,an industrial robot monitoring system with virtual reality form is designed.The main research object is the six-axis industrial robot control system,which is developed through the soft PLC CoDeSys.The remote monitoring system of industrial robots is researched and developed.In the Internet environment,a low-cost,trans-regional,system performance and stability of the industrial robot monitoring system is achieved.The main works of this thesis are as follows:Firstly,through the functional and non-functional requirements analysis,the system function and system solution of the system development are determined.On the basis of demand analysis,the system development model,the overall structure,functional modules is determined.Secondly,the current popular J2 EE technologies,SpringMVC,Spring and Mybatis framework are adopted.The OPC communication protocol is researched,and the main research object is the OPC server which is embedded in the soft PLC CoDeSys.The OPC client data acquisition program is developed.The 3D development of Web pages based on WebGL technologies is researched,and 3D modeling of industrial robots is carried out using Blender 3D production software.The D-H parameter method is used to establish the connecting rod coordinate system of industrial robots.The homogeneous transformation matrix and the inverse kinematics equation of the industrial robots are solved.The homogeneous transformation matrix is used as a parameter to locate the model.The inverse kinematics equation is used as the interface for determining the state information.The AJAX web asynchronous access technologies are used,making the browser and server asynchronous interaction,local refresh page,improve system performance and stability.The image server separation measure is adopted to reduce server pressure and improve system performance and security.Thirdly,the modules of the system are tested and analyzed,including the data acquisition module,the industrial robot 3D scene module,the system background module and the system front desk module.Fourthly,the full works of this thesis are summarized,and the lack of this thesis is pointed out.