Research And Implementation Of Visual Teaching And Simulation System For Six Joint Industry Robot

The industrial robot system is mainly composed of four parts: the machine body,the servo drive,the control system and the teaching device.The teaching device is an important tool of human-machine interaction.The operator can view and change the information of robot's position and pose,parameters,motion,but also manipulate the robot through the manual teaching and loading programs.With the development of robot application scope and the complexity of task,people demand the teaching system with 3D visualization function of robot.The paper view six joint industry robot of Huashu HSR-JR612-II as the research object.A visual teaching and simulation system based on six joint industry robot is developed on the platform of Qt and OpenSceneGraph(OpenGL open source library based on the development of the bottom scene),throuth the research on the kinematics,trajectory planning of industrial robot,3D virtual simulation and teaching programming technology.With the thinking of modulazation,the system is devided into some modules: 3D simulation,motion planning,teaching programming,program analysis,human-machine interaction,communication and file management etc and developed according to different functions.The three-dimensional simulation algorithm foundation of the teaching simulation system is studied,that is,the kinematics and trajectory planning of the robot,which lays the foundation for the realization of the three-dimensional motion simulation.The coordinate system of each joint is established and the inverse kinematics equation is deduced to realize the inverse solution of the robot through the study of the kinematics of the robot.The trajectory planning of the robot is studied.The linear interpolation of the parabola transition,fifth polynomial and cubic B-spline trajectory planning method is studied in the joint space to ensure that the robot motion simulation trajectory and velocity are smooth.In the Cartesian space,the trajectory planning method of linear motion and circular motion is given,and the robot model could move in space according to the specified trajectory.The four main function modules of the simulation system:the simulation program,the program analysis and the human-computer interaction,are studied and the framwork of the visual teaching and simulation system is built.Based on the traditional teaching device function,it can read the state information in real time and display the 3D module synchronously when the the system is connected to the controller and realize visual teaching,program parsing and motion simulation etc.when the system is disconnected from the controller.Through the research above,a test platform of teaching visualization simulation system is built.And the platform is used to verify thea serials of functions such as teaching programming of robot,virtual teaching,program analysis,motion simulation etc through the on-line test.on the connnection between the system and the controller of the robot and the offline test on disconnection.