Design Of Offline Programming And Simulation System Of Palletizing Robot Based On OpenGL

With the development of industrial automation technology,industrial robots are widely used in various occasions,and the technical requirements for robot programming are also increasing.The traditional robot programming method has technical requirements for the operator,robot stop running for programming not only takes up production time but also is inefficient.In view of this situation,it is of great significance to research robot offline programming and simulation technology,with the goal of achieving high efficiency,safety,and accuracy of robot programming.Based on the research of robot offline programming and simulation technology at home and abroad,this paper focused on the lack of proprietary offline programming systems for palletizing robot and the poor generality among different robot brands,through the specific analysis of system functional requirements and development scheme,designed and developed of palletizing robot offline programming and simulation system based on OpenGL.In this paper,the common 4DOF joint and double rocker palletizing robot was taken as the research object.Firstly,the movement laws were analyzed according to its mechanical structure,and the D-H matrix was established to solve the positive and inverse kinematics equation of the robot.Secondly,the robotic spatial motion trajectory planning and collision detection algorithm were studied,and the robot end pose parameters under different palletizing conditions were analyzed and calculated deeply,which provides the algorithm basis for the offline simulation module design of the robot.A virtual 3D simulation environment based on OpenGL was setted up in the Visual C++ development environment.Firstly,analyzed the different import methods and rules of 3D model.Secondly,specific design of the robotic function module such as,parameters setting,offline teaching and programming,offline program simulation running was carried out.Finally,taking the Kawasaki palletizing robot as an example,by analyzing the structure of robot program,a corresponding program conversion template was designed,and the codes written by the custom language were converted into a robot executable program.An actual robotic palletizing system environment was built,based on theoretical analysis and research.The experimental verification of the functions for each part in offline programming and simulation system was performed,the object size and teaching point pose data between simulation environment and actual environment were analyzed and compared.The experimental results shown that the palletizing robot offline programming and simulation system based on OpenGL designed in this project can be applied to the actual palletizing operation project.The derived robot program was stable and reliable,the movement trajectory and accuracy meet the palletizing requirements.