Research On Remote Control System For Six-Axis Industrial Robot

The remote control system of six-aixs industrial robot adopts the virtual reality technology and robot teleoperation technology.Using Unity3 D and Visual Studio as the system development platform,a robot control system for multi-platform is developed.Combining the function of industrial robot control system,a convenient human-computer interaction interface is designed.With the research on the kinematics and dynamics of 6-DOF robots,a motion control system is designed for simulation robot in the simulation environment,include the kinematic inverse solution of six-axis industrial robots and common welding trajectory,which provides algorithm support for simulation industrial robot motion control.Remote control system for robot operating uint uses collision detection technology for the simulation of robot teaching.In the simulation scene,the offline programming interface is designed and it implement the offline programming function.By analyzing the programming language of INFORM industrial robot,the corresponding decoder is designed and the offline program can be decoded into the simulation robot's kinematic functions which can be executed in the simulation operating system to realize the trajectory reproduction in the simulation scene.Through the use of TCP/IP network communication,the remote control system can upload program which is programmed in the virtual reality world to the real robot ontology.By sending control commands to the real robot controller under Telnet protocol,it realize the remote control of the real robot.The simulation robot accepts the data transferred by TCP as a feedback from the real robot,which realizes realtime monitoring of the real robot.