摘要
提出一种基于虚拟现实技术的工业机器人示教系统设计方案。系统分为示教场景及虚拟示教器两个部分。以目前广泛使用的ABB IRB4600-60/2.05机器人为例,首先利用D-H参数法建立运动学模型,求解正逆运动学方程,并进行机器人的运动轨迹规划;按照真实的机器人车间,在Unity3d中进行虚拟示教场景的搭建。参照ABB IRC5-Flex Pendent示教器,结合具体的工程应用需求,开发Windows平板上的示教器软件。应用RPC(Remote Procedure Call Protocol)协议,实现示教场景和示教器间的通信。实验结果表明,使用该系统用户可以方便地进行机器人的简单示教。
In this paper, a design scheme of industrial robot teaching system is presented that is based on Virtual Reality in Unity3d. The system consists of teaching scene and teach pendent. And ABB IRB4600- 60/2.05 is taken for research with is used widely. First, the kinematics model is established from positive and inverse kinematics problems through D-H theory. And two kinds of trajectory, linear and circular, are planned. According to the real robot workshop, the virtual teaching scene is set up in Unity3d. Referring to the ABB IRCS-FlexPendent, the teaching pendent software is developed on the Windows tablet combining with the requirements of engineering applications. Applying RPC （Procedure Call Protocol Remote） proto- col, the communication between the teaching scene and the teaching pendent is established. Experimental re- sults show that the system user can easily carry out the simple teaching of the robot.
出处
《组合机床与自动化加工技术》
北大核心
2017年第7期110-115,共6页
Modular Machine Tool & Automatic Manufacturing Technique
基金
福建省高端装备制造协同创新中心(2015HZ0002-1)
福建省科技重大专项
