Research On Operation And Programming Of Industrial Robot In VR Environment

With the rapid growth of China's economy and "Made in China 2025" strategy unceasingly,industrial robots increasingly integrated into the economic and social aspects,it's difficult for the related personnel to master relevant knowledge operation and programming of robot due to the robot equipment with high cost and difficult to grasp and the characteristics of operational risk,which causes the robot industry talent gap widening.In view of the high cost of robot learning and the boring and lack of immersion of traditional learning methods,this research provides a new robot learning method combining virtual reality teaching and programming,and develops a simulation teaching system of industrial robot operation in VR environment.This system mainly realizes the teaching and programming function of six-axis robot with HTC VIVE equipment in VR environment,and it can be presented in a visual form.Moreover,the system also improves the learning efficiency of learners.The main research work of this thesis is as follows:(1)A cube interface design method based on UI framework is proposed to facilitate human-computer interaction in VR environment.The design method of VR environment was studied,and the keys of VR controller were rationally assigned and bound,the scene browsing mode of VR roaming and layout was designed,two virtual drag and drop teaching methods based on robot kinematics were realized,and the button fast insertion method was used to program in VR environment.(2)A method of inverse solution of robot based on pose separation is proposed.This thesis analysis Pei Tian AIR3-A of six axis robot kinematics that based on the modified d-h method,it solves the pose and separation problem thought the first three joints are solved and then the last three joints are solved.This thesis research and analysis trajectory planning problems on the robot joint space and cartesian space,which has realized the control of the virtual robot movement and has proved the correctness of the results.(3)A program interpreter system for industrial robot is designed and implemented.Studied the Pei Tian ARL language structure and characteristics of industrial robot programming language,and by matching the JSON file records the lexical rules,the lexical set segmentation source code form lexical unit sequence,according to the rules of grammar constructs a syntax tree node,after perform parsing module structure of syntax tree,and triggers the virtual robot control function driver,The C# programming language model was developed and verified in VR environment with ARL language.(4)The method of virtual drag and drop teaching and fast programming in VR environment is studied.This thesis analyzes the configuration functions of the robot and its realization steps for real-time control of the robot in VR environment.It has built the VR environment based on Unity3 D platform and HTC VIVE equipment for hardware,and then has designed the interface of the system and has used XML file format for the project data preservation and loading,has completed the master robot operation and programming knowledge teaching function demand analysis,has completed the system's overall function design and the overall framework design of the system.Finally,the correctness and feasibility of the system are verified by a robot drawing case.