Research And Implementation Of Virtual Teaching System For Industrial Robot

Traditional teaching programming techniques for industrial robots are low in efficiency and high in cost,and skilled operators with professional knowledge and skills in the field of industrial robots are required to complete the tedious teaching programming process.This leads to a low penetration rate of industrial robots in the production of small and medium-sized enterprises,making it difficult for small and medium-sized enterprises to use new technologies to improve production efficiency.This is not conducive to the transformation and development of China's manufacturing industry.Aiming at the deficiency of traditional industrial robot teaching system,this paper develops a virtual teaching system based on computer aided design,the core of which is offline programming(OLP)technology.The off-line programming technology of robot combined with computer aided technology can automatically generate the operation program of solid robot without the robot being separated from the production line through virtual simulation verification of the motion trajectory.The aim of this paper is to study a method of generating industrial robot operation program from common 3D CAD software package and develop a virtual teaching system of industrial robot on the basis of this method.In order to achieve the research objectives of this paper,the main research work is as follows:First,the forward and inverse kinematics modeling of industrial robots was analyzed using the improved D-H law,and the simulation verification of the robot kinematics model was completed with the help of Robotics Toolbox 10.4 for MATLAB.Then the robot trajectory planning algorithm in virtual environment is studied.On the basis of kinematics and trajectory planning algorithm research,combined with the offline programming method of robot based on CAD,the development of virtual demonstration software system of industrial robot is completed.The core work of this paper is to use said the robot movement characteristics from the CAD model of appropriate method,has realized from the virtual model of the robot automatically extract the robot's movement data and automatic generation of industrial robot trajectory/procedures,the process of making industrial robot motion data can be directly from the virtual environment mapping to the real environment,the purpose of this study is for people with basic knowledge of CAD and robot developed a robot off-line programming software system based on CAD.Finally,through the design experiment,the test task of virtual teaching completed by the physical robot is verified,and the effectiveness and practicability of the virtual teaching software system is verified.