基于Web的机器人虚拟示教仿真研究

Web Based Teach-in Simulation for S-700 Robot

随着网络技术和虚拟技术的不断发展,在单机上实现虚拟控制、仿真将成为网络化制造和远程教学的重要手段。论文以日本FANUC的S-700机器人为设计对象,建立了该机器人运动学模型,采用Solidworks建立起机器人及其工作环境的三维几何模型并转换成VRML环境下的格式,结合VRML和Java技术实现了在Web下运行的机器人示教操作和运动仿真,取得了理想的人机交互效果。

With the continuous development of network technology and virtual reality, nowadays the implementation of virtualized control and simulation in PC becomes a significant method in the network-based manufacturing and remote training. In this paper, Japanese FANUC S-700 robot is studied as the object. The method for building a Web based teach-in Simulation System of the robot is introduced. Flatly, the kinematics model of the robot as the foundation was built up. Then Solidworks software was applied to build up the three-dimensional geometry model of the robot, as well as the correspondent environment. Thereafter, these models were transferred into format based on VHML environment. Furthermore, this paper proposes a new method that combines the technology of VRML and Java to implement the robot Teach-in operation and simulation based on Web. This system also realizes the interactive ability and Obtains a satisfied performance eventually.