A Networked Virtual Experiment Platform For Cognizing And Operating Industrial Robots

With the development of the manufacturing industry towards intelligence,industrial robots are increasingly used in industrial production,but the talent gap in the field of industrial robots is huge.One of the important reasons is the lack of an effective teaching system.The cultivation of talents in the field of industrial robots is inseparable from experimental teaching.Although many universities and vocational schools have set up experimental courses for industrial robots,due to the limitations of teaching conditions,there are problems of low experimental efficiency and poor teaching results.In order to improve the efficiency and effectiveness of experimental teaching,and response to the call of the "new engineering" practice,a networked virtual experiment platform for cognizing and operating industrial robots was designed and implemented in this research.Main contents of this paper are as follows:First of all,the overall architecture of the robotics virtual simulation experiment platform was designed.Secondly,the virtual simulation experiment platform based on X3DOM(X3D+DOM:Extensible 3D Graphics+Document Object Model)was designed and implemented.Specifically,based on X3 DOM technology,the display and driving methods of industrial robots and their extended models on web pages were designed.The kinematics solutions of different types of industrial robots were studied.The trajectory planning methods in Cartesian space and joint space are analyzed to meet different requirements of motion instructions;based on the RAPID instruction,the instruction system and instruction parsing module of this experimental platform were designed.Thirdly,the virtual simulation experimental platform for real-time remote control and monitoring methods of industrial robot was designed and implemented.Specifically,the communication structure of remote control and monitoring was designed.Based on the PC Interface component of ABB industrial robot,the remote control method that the cloud server sends instructions to the industrial robot through TCP and controls its execution was designed.The three-dimensional model was designed in the instruction unit.The synchronous driving method realized the synchronous motion of the remote industrial robot and the virtual model on the experimental platform;based on WebRTC(Web Real-Time Communication)technology,the low-latency video monitoring method was designed to further ensure the synchronization of the virtual and real.Fourthly,the functional system and experimental system of the virtual simulation experimental platform were designed,and the effectiveness and accuracy of the system were verified by a series of typical theoretical,operational and applied experiments.The networked virtual experiment platform for cognizing and operating industrial robots was designed for industrial robot experimental teaching,and formed a complete virtual experimental system in the crosswise study,which was compatible with industrial robots of many types and brand and satisfied the teaching needs of robotics to the greatest extent;complete functional simulation of industrial robots was realized in the vertical study,which simulated the control method and instruction system of real industrial robots,and realized the barrier-free connection between virtual experiment and real experiment.This platform has networked and plug-in-free features,which is helpful for promotion and application in teaching.