Design And Realization Of Industrial Robot Workstation Visualization Platform

With the development of industrial automation and intelligent human-machine interaction,industrial robots are widely used in 3C,processing,automotive and other industries as a typical intelligent equipment.In order to solve the problems of high cost,complex motion control,and difficult programming,a industrial robot workstation visualization platform is designed with following and palletizing function,which is constituted by virtual model of robot workstation,robot motion simulation technology and instruction programming and decoding system.Aiming at the complex structure and numerous parts of the robot model,the visual platform reorganizes the grid model by extracting the point-position feature of the model file.Combined with lighting and texture rendering,to optimize the display effect.Since the work unit has different shapes in different work scenes,the work unit model is constructed by combining three-dimensional primitives.After visualizing industrial robot workstation model,the virtual area to which the workpiece belongs can be judged based on the ray method to realize the perceivable model boundary and motion state.Combined with the DH equation and visual simulation algorithm,the dynamic operation of the industrial robot model in the virtual space is realized.In addition,a precise position and high real-time palletizing following motion control method is designed to analyze the basic working principles of the palletizing process and the following process.It is necessary to achieve a industrial robot workstation programming system,which is composed of instruction editor and instruction decoder.In order to solve the problems of instruction inspection,instruction decoder provides syntax analysis based on regular matching.For the purpose of processing abstract and complex features of the editing process,instruction editor is designed with variable capacity tree.After setting parameters and recording points in combination,a robot control program can be automatically generated.Conveyor palletizing simulation and robot follows glue experiment can be designed,which based on the visualization platform and the conveyor belt experiment platform.The simulation effect,palletization following process and automatic programming method can be tested,and the accuracy of the visualization platform can be verified through conveyor palletizing simulation and gluing experiments.