Study On Visualization Method Of Industrial Robot Motion Trajectory

Robot technology is a significant embodiment of national innovation and competitiveness,and is a significant indicator of the level of manufacturing industry.It is pointed out in the "intelligent robot" key project launched by China's key research and development that three-dimensional modeling and visualization of industrial robot and working environment,motion simulation and trajectory generation are important parts of common technology research.The application of virtual simulation technology in industrial robot realizes the visualization of industrial robot's moving track.It provides a more convenient experimental tool for robot workers,and the robot's moving limit and working space shape is observed intuitively.So as to use more reasonable trajectory planning algorithm and control method for eliminating the existence hidden danger probably of robot in the process of movement.The safety and reliability of robot operation are improved.In this thesis,based on the research background of the assembly work of industrial robot,the path planning method and motion path visualization method of six axis robot are studied.The specific work includes the following three parts:(1)Trajectory planning algorithm is researched based on industrial robot assembly work.The linkage structure of six axis industrial robot is studied.The kinematic model is established with D-H parameter method.The forward and inverse kinematic solutions is calculated.The advantages and disadvantages of Cartesian space and joint space trajectory planning algorithm is analyzed.In the light of the assembly work of industrial robot,The algorithm is researched combining sine acceleration and deceleration linear trajectory planning with quintic polynomial interpolation trajectory planning.And its trajectory is simulated in MATLAB to verify the rationality of the algorithm.Finally,it is compared with polynomial interpolation algorithm planning trajectory to verify the effectiveness of the algorithm.(2)The visualization method of industrial robot motion trajectory is resear-ched based on OpenGL.The creation method of 3D model of industrial robot is studied based on SolidWorks.3D model of six axis industrial robot is established.The environment configuration and workflow of OpenGL is introduced.The file format of STL file of 3D model and the reading method is studied under MFC framework.Finally,the key technologies of OpenGL are studied,such as color rendering,view transformation and animation demonstration.The animation demonstration of industrial robot's moving track is carried out.(3)Trajectory planning verification of industrial robot assembly work.Taking Mitsubishi rv-13f six axis industrial robot as the experimental platform,the trajectory of assembly work planning is sent to the robot body to make it move.According to the results of the trajectory of industrial robot and assembly work pieces,the rationality and feasibility of the trajectory planning algorithm are verified.Compared with the trajectory of visualization,the rationality of trajectory visualization is verified.The experiment shows that the visualization of industrial robot's motion track is helpful to observe the robot's motion track intuitively.The possible problems could be found out in the process of motion in advance to improve the safety of robot operation.