基于V-REP与MATLAB的机器人仿真应用

Application of Robot Simulation Based on V-REP and MATLAB

利用V-REP与MATLAB完成机器人加工仿真,首先通过CAM软件生成工件的加工后处理文件;其次用MATLAB读取后处理文件的刀轨迹信息并进行相应的计算以获取刀具轨迹对应的机器人关节角;然后在V-REP与MATLAB之间搭建通讯接口,使得V-REP中机器人模型可以响应MATLAB的控制命令;最后在V-REP运动仿真中进行碰撞检测和仿真轨迹点的误差分析[1]。结果表明该方法能够生成无干涉加工轨迹和正确的机器人关节运动参数,并且具有较高的精度值。

V-REP and MATLAB are used to complete the robot machining simulation.Firstly,CAM software is used to generate the post-processing file of the workpiece.Secondly,MATLAB is used to read the tool path information of the post-processing file and calculate the corresponding robot joint angle of the tool path.Then,a communication interface is built between V-REP and MATLAB,so that the robot model in V-REP can response the control order of MATLAB.Finally,collision detection and error analysis of simulation track points are carried out in V-REP motion simulation.The results show that the method can generate non-interference machining trajectory and correct robot joint motion parameters and,has high accuracy.