| Industrial robots are playing an increasingly important role in on-site production and the implementation of high-intensity,high-risk,high-precision,etc.The industrial robot teaching device accompanying its development has also been increasingly regarded as a research hotspot.The friendly function interface,intuitive expression mode,and good operating performance of the industrial robot teach-in directly influence the teaching efficiency of the teach pendant.This article begins with an analysis of the need for a simple,friendly,and visually pleasing industrial robot teaching device.The main research contents include the analysis of the positive and inverse kinematics of industrial robots,the establishment and display of three-dimensional models,and the software interface development of teaching pendants.The specific work is as follows:Firstly,the status quo of domestic and foreign research on teaching robots for industrial robots is reviewed.The purpose and significance of teaching pendants are expounded.It is pointed out that the development direction of robotic teaching pendants at the present stage is that the teaching interface is more concise,interactive and visualized.On this basis,the demand analysis of the function of the teaching robot of the industrial robot is divided into online programming,three-dimensional virtual display,motion modeling and control,etc.The software program of the teaching robot for industrial robots is designed for these core functions.Second,to realize the precise control of robot movement and pose by the teaching pendant,a kinematic model of the industrial robot was established.The coordinate system of the robot is established based on the D-H parameter method,and the forward and inverse kinematics analysis of the industrial robot is performed.Simulation and subsequent experimental test results verify the correctness of the model.The establishment and analysis of kinematic models lays the foundation for robot teaching control and three-dimensional display.Thirdly,aiming at the problem of poor picture quality and poor visualization of the existing three-dimensional teach pendants,a software platform based on SolidWorks+OpenGL+Qt is designed and developed,and a more realistic three-dimensional model of an industrial robot is created using SolidWorks.The OpenGL library file can be directly invoked by confirming the 3DS texture coordinates and converting to Qt via Deep Exploration.The method of converting,reading and displaying the 3DS model files is elaborated in detail.The solution to the difficulties in the development process is proposed,and the 3D control interface that can simulate the operation and display the motion state in real time is completed.Finally,through the analysis of the kinematics model of industrial robots using C++ language programming,the program and industrial robot three-dimensional model program are integrated into the teach pendant operation interface.Finally developed and designed interfaces for teaching robots,online programming,installation settings,and status settings.By building a teaching software test platform,manual control test,control precision test and online programming test are carried out to realize the good and accurate working state of the industrial robot teaching device. |
PDF Full Text Request