Research On Virtual-Real Teaching Technology Of 6-DOF Industrial Robotic Arm

Teaching is the primary prerequisite for industrial robotic arm operations.With the wide application of industrial robotic arm in industrial production and processing,the teaching technology of industrial robotic arm has become a research hotspot in the field of robotics.Industrial robotic arm teaching technology includes on-line teaching and off-line teaching.Among them,the on-line teaching mode can obtain the result of the industrial robotic arm teaching operation intuitively.However,the on-line teaching mode has low teaching efficiency and consume longer time.In addition,the off-line teaching mode has the advantage of low teaching cost and high usability.And there is no need to occupy the industrial robotic arm during the teaching process.Nevertheless,the verification process of traditional off-line teaching results is rather tedious.In this respect,based on the off-line teaching mode,the 6-DOF industrial robotic arm teaching technology combing virtual and reality is introduced,which not only can accomplish the off-line teaching task,but also can do real-time verification of off-line teaching results.The research contents of this paper mainly includes:The first chapter expounds the background and significance of this paper.Then,the domestic and international research status of industrial robotic arm teaching technology from the aspects of on-line teaching and off-line teaching is reviewed.The characteristics of on-line teaching and off-line teaching is introduced and compared.In the meantime,the organizational structure of this paper is given.In the second chapter,The semantic description and transformation of industrial robotic arm task is proposed.The industrial robotic arm work semantic constraints set that includes industrial robotic arm motion constraints and engineering control constraints is set up by the semantic description of industrial industrial robotic arm tasks.The overall scheme for the industrial robotic arm to perform work task is generated based on the industrial robotic arm semantic transformation.The robotic work motion is accomplished by means of obtaining the instruction program of the industrial robotic arm motion control.In the third chapter,physical industrial robotic arm operation control method based on virtual instruction analysis is introduced.The verification of virtual simulation results is achieved by physical industrial robotic arm motion control using virtual instruction analysis.To this end,the motion control of virtual industrial robotic arm model is realized based on group binding method,which guarantee the consistency of motion effect between the virtual industrial robotic arm and the physical industrial robotic arm in the real scene under the same control conditions.The industrial robotic arm kinematics model is constructed based on D-H parameter method,and the forward and inverse kinematics equations of the industrial robotic arm are obtained,which lays a foundation for industrial robotic arm motion control.Then,the virtual instruction interpreter is constructed to analyze the virtual instruction program of industrial robotic arm task.The virtual simulation results is verified by connecting motion controller to control the physical industrial robotic arm motion.Method for virtual scene industrial robotic arm motion simulation based on data mapping of physical industrial robotic arm is realized in the fourth chapter.The motion data of the physical industrial robotic arm is collected by encoder.And the motion data is converted to the industrial robotic arm joint axis rotation angle data with the use of industrial robotic arm motion controller.In addition,the motion data of physical industrial robotic arm is gained by TCP network transmission.Then,the motion data of physical industrial robotic arm for real scene is bind by the Slider control of the virtual scene in motion control.The motion simulation of industrial robotic arm in virtual scene is implemented.The industrial robotic arm teaching system combing virtual and reality is introduced in the fifth chapter.The overall structure of the teaching system and the design of software interactive interface are summarized.In the same time,the function module of the whole teaching system is presented.Taking the handling operation as an example,the application effect of the virtual and real teaching system is explained.The sixth chapter summarizes the main research contents and innovations of this paper.In the meantime,the deficiencies of the current research content is illustrated.And the follow-up research direction for current research content are prospected.