| Online teaching is easy and convenient to teach by operating an actual robot,and teaching accuracy can be guaranteed.Offline teaching makes teaching more safe,and it is easy to teach a complicated track program.A teaching and simulation software for a sixaxis industrial robot is developed after combining the two kinds of teaching methods.At the same time,the software has good practicability and intelligence.The functional requirements of teaching and simulation software for the six-axis industrial robot are analyzed.In addition,the three-layer architecture for software development is built,combined with the design idea of software layered architecture.The teaching programming,simulation and communication are the most important modules in the system.The method of communication between software and control host is determined.It is determined that the teaching program is composed of attributes,temporary registers,and teaching instructions,combined with the functional requirements of the teaching programming module.Text editing and instruction choice editing are designed to satisfy the syntax specification of instruction program instruction.Text editing can automatically detect syntax errors.And instruction choice editing list instruction types,editable items,and options available as options for selection by the user,making program editing easier.In additionthe,the teaching programming interface is designed with the QT graphical interface development tool.Then,the robot model is introduced,based on the geometric kernel of Open CASCADE.The position of the link coordinate system is determined with the DH parameter.The simulation of the industrial robot is designed and implemented after the matrix transformation of the coordinate system and the periodic refresh of the interface.The simulation is demonstrated in the 3D display environment of Open CASCADE.For the data interaction between the software and the control host,a communication module based on Zero MQ is designed to realize the multi-channel data interaction.The control interface library is generated based on the communication module.Finally,teaching reproduction function and simulation function are validated in the experimental platform.The results show that the designed software has good feasibility,reliability and practicability. |
