摘要
为打破国外机器人仿真控制软件的技术垄断,利用OpenGL及MFC在VC6.0平台上开发了一款工业串联机器人的运动控制及标定软件。其人机交互的实现包括机器人选型、运动学仿真、末端位置测量、基坐标系和工具坐标系标定、精度分析、误差参数辨识、误差补偿及效果验证9大流程。通过RS232串口通讯实现界面和控制器的数据通讯,同时结合3D模型的显示及动作模拟,可实现机器人末端轨迹的在线规划、机器人标定、运动控制等功能。
In order to break the foreign technical monopoly of robot simulation and control software , it develops the kinematic control and calibration software for industrial serial robot based on MFC and OpenGL in VC 6 .0 platform .The functions of this system include the robotics selection , kinematics simulation , the measurement of terminal position , the calibration for the base coordinate system and the tool coordinate system , the accuracy a-nalysis, the identification of error parameter , the error compensation and effect verification .The data communi-cation between interface and controller is done based onRS 232 serial port communication .With 3D model display and kinematic simulation , the system can realize online planning for robot terminal position trajectory , the robot calibration , motion control and other functions .
出处
《机械设计与制造工程》
2015年第1期46-49,共4页
Machine Design and Manufacturing Engineering
基金
中央高校基本科研业务费专项资金资助(NZ2013307)
关键词
机器人
运动控制
标定
规划
robot
kinematic control
calibration
planning
