Research On 3D Virtual Dynamic Remote Monitoring System Of Industrial Robot

With the proposal of the "Made in China 2025" manufacturing power,China's industrial robot industry has been vigorously developed.Along with the aging population in China,the traditional manufacturing industry is not enough.Thus,many companies begin to introduce modern equipment to upgrade their own technology.In view of the advantages of easy operation,stable product quality and labor cost savings in the fully automated production line,the “Machine Substitution” initiative is being promoted nationwide,and industrial robots are gradually being used in production,life,and scientific experiments.In some special scientific experiments,robots are needed to be placed in some environment which human can not survive,such as high-intensity nuclear radiation,high-pressure deep sea and outer space,traditional robot operations can not meet such situations,robot remote monitoring technology was thus proposed.Aiming at the remote monitoring problem of industrial robots,this study design a 3D virtual dynamic remote monitoring system based on ABB industrial robot.This new remote monitoring system combined with modern communication technology,computer technology,industrial robot offline programming technology,video surveillance technology and virtual reality technology.The main research contents of this paper are as follows:1.Clearly establish the 3D virtual dynamic remote monitoring system of the drawing workstation;determine the function of the system;describe the realization principle of each function;design the general framework of the monitoring system according to the function needs,and select the hardware.2.Build 3D model of IRB120 robot axis unit using 3D modeling technology;Analyze data of 3D model based on Assimp(full name: Open Asset Import Library)technology;establish DH model joint transformation matrix between joints;complete the rendering and construction of the robot 3D model data,using OpenTK(The OpenGL package class library technology under.Net platform);perform positive kinematics simulation verification of the 3D simulation model combining with the RobotStudio software,and confirmed the correctness of the IRB120 robot 3D simulation model.3.Programed a set of industrial robot local real-time robot monitoring system for the handling simulation workstation using the PC SDK secondary development interface of IRC5 controller in the virtual development environment.This system could initially realize network controller scanning,controller default user login,controller information reading,robot running status information reading,RAPID program reading and writing,I/O status reading and writing,routine start and stop,the backup and restore of the controller system,and the reading of the controller log information,etc.;we also verified the functions of the monitoring system combining with the RobotStudio software.4.Complete the PC-side hand-drawn simulation and extract the 2D point data of the handdrawn trajectory using GDI+ technology;Build the 2D coordinate system of hand-drawn trajectory as well as the coordinate system of robot workpiece,and complete the 3D point data conversion of the 2D point data of hand-drawn trajectory to the workpiece coordinate system;create a robot drawing program template for receiving 3D point data using offline drawing technique.Successfully write the 3D point data into the drawing program template based on the secondary development interface of PC SDK,and the robot can execute the generated program.realize the reproduction function of hand-drawn trajectory robot;Program a 3D virtual dynamic remote monitoring system for the drawing workstation and set up a real drawing workstation for actual verification.The results show that the monitoring system can dynamically display the 3D pose of the robot in real time,complete the reading and modification of the robot data,and realize the hand-drawn trajectory reproduction function.