基于3D模型并行处理的机器人半实物仿真平台  

Semi-physical motion simulation of robot based on 3D model parallel processing

作　　者：韩金[1] 陈国华[1] 张爱军[1] 

机构地区：[1]北京化工大学机电工程学院,北京100029

出　　处：《计算机集成制造系统》2016年第1期281-286,共6页Computer Integrated Manufacturing Systems

摘　　要：针对工业机器人三维运动仿真及其在线实时控制,在MATLAB环境下构建了一个机器人半实物仿真平台。为解决复杂模型的快速加载与显示,实现机器人高精度三维仿真的实时性,提出一种基于单个项目多个数据并行处理的高精度模型构建方法。为了满足仿真系统的在线协同性,以三菱MELFA RV-4F工业机器人为例,建立了仿真平台和机器人控制器之间的TCP/IP通信,设计了平台的用户图形交互界面,交互实现了机器人的正向和逆向运动在线控制和实时仿真。测试结果表明,该平台具有良好的易用性和可操作性,可满足教学和科研的需要。Aiming at the three dimensional motion simulation and its real-time online control of industrial robot,a semi-physical motion simulation platform was built in MATLAB.To solve fast importing and real-time displaying with high accuracy of complex 3D models,a SPMD-based parallel processing method was proposed for rapid processing.To satisfy the synchronization of simulation system,Mitsubishi robot MELFA RV-4Fwas taken as an example to establish TCP/IP communication between platform and robot controller of RV-4F,with which the real-time simulation and online control of RV-4F＇s forward and inverse motion were realized by interaction through the Graphical User Interface（GUI）of the platform.Experimental results showed that the platform had good usability and high maneuverability,and could meet the needs of teaching and research work well.

关 键 词：机器人 3D模型 并行处理 半实物仿真 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]