基于虚拟环境的拣选机器人设计和仿真实现

Design and simulation of picking robot based on virtual environment

物流拣选机器人的工作环境比较复杂,为了在系统研发阶段避免机器人发生碰撞而造成不可预估的损失,提出了一种基于Visual Studio与V-REP的联合仿真方法。首先,使用D-H参数法建立运动学模型,得到运动学正逆解,并运用Matlab进行模型验证;然后,使用VS2015编写外部控制程序,通过API通信对机器人进行运动控制,采用三次多项式的插值方法进行轨迹规划;最后在V-REP中进行碰撞检测,来判断路径规划是否存在问题。实验结果表明,采用联合仿真的方法可以有效避免碰撞产生。

Due to the complex working environment of logistics picking robots,collision events often occur in the system development stage,resulting in unpredictable losses of robots.In order to solve this problem,a method of co-simulation was proposed based on Visual Studio and V-REP.Firstly,the D-H parameter method was used to establish the kinematics model,and the positive and negative solutions of kinematics were obtained.Matlab was used to verify the model.Then,the external control program was devised to control the robot motion through API communication,and the interpolation method of the cubic polynomial was used to carry out trajectory planning.Finally,collision detection was carried out in V-REP to determine whether there were problems in path planning.The experimental results show that the co-simulation method can avoid collision by collision detection.