Research On Motion Simulation And Control Of Industrial Robot Based On Virtual Reality

In recent years,Germany has taken the lead in proposing the “Industry 4.0” plan.China has successively proposed “Made in China 2025”,and industrial robots are increasingly used in industrial production.In order to achieve the high efficiency and flexibility of industrial robots in actual production,the interactive control of software systems and robot systems under the PC platform has been a research hotspot.This paper takes the Unity3 D virtual reality engine as the development platform,and studies the virtual motion simulation and control of industrial robots from the perspective of the interaction between virtual robots and real robots.The main research contents are as follows:Firstly,the kinematics and trajectory planning of FANUC R2000 ic robot are analyzed.The kinematics model of R2000 ic robot is built by DH parameter method.The inverse kinematics solution of R2000 ic robot is deduced based on the prototype.On this basis,the trajectory planning of the robot in joint space and right angle space is carried out.The concrete steps of realizing real-time control of virtual robot are given.Secondly,to realize virtual visual motion simulation and remote communication control of R2000 ic robot,a virtual motion simulation system of industrial robot is designed by using Unity3 D virtual reality engine.The structure and function modules of the industrial robot motion simulation system are studied and analyzed.The virtual robot model and simulation scene are created in the virtual reality engine.The inverse kinematics algorithm of the robot is developed in C language and encapsulated in DLL dynamic link library.The DLL algorithm function is invoked by C#.Trajectory planning in motion process of three interpolation modes: joint interpolation,linear interpolation and circular interpolation.The robot control interface of virtual robot motion simulation is designed and developed.Thirdly,the data communication between the robot virtual simulation system and the R2000 ic robot is studied.The data communication scheme between virtual simulation system and R2000 ic robot is determined.Siemens PLC is used as data transfer.The data communication between virtual simulation system and Siemens PLC is realized by open source framework Hslcommunication.The data communication between virtual simulation system and robot is completed,and the motion control of R2000 ic robot is realized by simulation system.Finally,an experimental platform is built to validate the virtual simulation system of industrial robots.Off-line simulation and on-line simulation are carried out to verify the feasibility of the virtual-real interactive control system.