Motion Simulation Analysis And System Development Of General 6R Articulated Robot

With the continuous development of robot technology,more and more robots are playing an important role in the manufacturing and other industries,and the importance of robot system simulation technology has become increasingly prominent.The robot system simulation technology is to construct a virtual three-dimensional environment capable of human-computer interaction by using computer graphics technology without involving the actual robot and the working environment,and simulate the robot motion accordingly.Firstly,the kinematics problem of the PR05 model robot is analyzed.The kinematic coordinate system of the robot is constructed by D-H method,and the kinematics equation of the target robot is obtained,and the derivation process of the forward and inverse kinematics is realized.In addition,the existence,multi-solution and optimal solution of kinematics inverse solution of robots are discussed,and the analysis process of robot singular state is carried out.The problem of multiple solutions of kinematics inverse solution is solved by the weighting method and the inverse solution solving process.Second,the robot kinematics,workspace and trajectory planning are simulated and analyzed.The robot motion model is established in the Robotics Toolbox,and the simulation calculation of the kinematics forward and inverse solution is realized.The correctness of the kinematics equation and the forward and inverse solution algorithm is verified.In addition,the Monte Carlo method is used to draw the workspace of the robot.The simulation of the relevant trajectory planning of the robot is carried out,and the simulation curve of robot joint and the trajectory of the end are obtained.Finally,the robot motion simulation system software is designed and developed.The demand analysis of the robot motion simulation system is carried out,and the system implementation path is determined.The drawing environment is established by Visual C++ and OpenGL,and the development framework of the simulation system program is built.The overall design and functional framework of the motion simulation system are expounded in detail.The design interface and programming ideas of the functional modules such as user interface,model building,motion control,inverse solution calculation,trajectory planning and simulation reproduction are introduced.