基于VR技术的工业机器人碰撞自动检测技术

Automatic Collision Detection Technology for Industrial Robots Based on VR Technology

为提高工业机器人在实际工作中的灵活性和高效性,研究VR在工业机器人中的应用。采用D-H算法构建坐标系描述机器人的运动关系,建立运动学模型,获得机器人在空间中的动态特征;构建运动学矩阵,根据机器人不同部位特点选择不同虚拟包围体,结合投影定理完成基于虚拟现实技术的工业机器碰撞检测。通过搭建碰撞测试平台,建立机器人真实工作环境的1:1虚拟场景进行测试。实验结果表明,将VR技术应用于工业机器人碰撞检测中,能够在发生碰撞前给出提示,满足了检测实时性,有效实现工业机器人的安全运行和灵活高效。

In order to improve the flexibility and efficiency of industrial robots in practical work,the application of VR in industrial robots is studied.D-H algorithm is used to construct the coordinate system to describe the motion relationship of the robot,and the kine-matic model is established to obtain the dynamic characteristics of the robot in space.According to the characteristics of different parts of the robot,different virtual bounding bodies are selected according to the characteristics of different parts of the robot.By building a collision test platform,a 1:1 virtual scene of the robot's real working environment is established for testing.The experi-mental results show that VR technology is applied to the collision detection of industrial robot,which can give prompt before col-lision,meet the real-time detection,and effectively realize the safe operation and flexible and efficient of industrial robot.