Research And Implementation Of VTK-based Industrial Robot Simulation System

Since the development of industrial robots in the last century,they have played an increasingly important role in industrial production.They have took place of the mechanical repetitive production labor of workers and enhanced the productivity of processing and manufacturing in the factory.The virtual simulation of industrial robot operation provides a way for the development of efficient production operation process.The simulation software can avoid the complex production debugging on the processing site in advance,and optimize the robot processing path,etc.Therefore,the research on robot simulation software is very necessary.This subject will develop a virtual simulation software of industrial robot based on VTK visualization technology tool and PyQT5 design framework.The following are the research contents:(1)For the construction of the robot's visual simulation software,the technical advantages and visualization realization principle of VTK and PyQT5 were analyzed,and the simulation environment was established by Python programming language.Then,through the function library of VTK visual toolkit,the STL format files of the robot and the workpiece are imported and displayed,and the interactive operation of the robot is designed by using the human-computer interaction function class of the visual toolkit.(2)To realize the function of the robot motion simulation module,the forward and inverse kinematics solution of the robot should be obtained by establishing the kinematics model,which can be obtained by matrix operation with D-H parameter coordinate system as the model.However,the inverse kinematics solution has the problem of multiple solutions,and the principle of "the shortest travel of the whole robot motion trajectory" is adopted to select the optimal solution in the workspace.Through the program design,the solution of the robot kinematics solution and the design of the kinematics simulation module are realized.(3)For the research and development of the trajectory planning module,the principle of path planning in right-angle space and trajectory planning in cubic polynomial interpolation in joint space is studied.The development of Cartesian coordinate space trajectory planning function module and 3D printing trajectory simulation module is realized in the simulation software.(4)According to the research of teaching function module,through the analysis of the teaching programming principle and the research of space coordinate transformation principle,the selection of the workpiece surface points and the off-line teaching programming of the robot are realized.(5)For the development of the error display module,the main influencing factors of the robot positioning error are analyzed,the robot end positioning error model is established according to the MD-H method,and the influence of the parallel joint variable error on the end positioning is studied,and the robot positioning error is realized the display simulation.Paper completed basic function module developed robot simulation system,each module is verified by simulation indicates that the robot system is programmed with a high intuitive and easy to use.