虚拟工业机器人示教再现摄像机轨迹研究  

Research on the Camera Trajectory for Teaching-playback of Virtual Industrial Robot

作　　者：斯太康 陈雪峰[2] 闫维新[1] 赵言正[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海201100 [2]首都航天机械公司,北京100076

出　　处：《机电一体化》2017年第7期3-7,60,共6页Mechatronics

摘　　要：为清晰观测焊接机器人的再现焊接轨迹的需求,研究了Unity 3D开发环境下的观测摄像机的视角选择与运动规划。通过对几种常用焊接轨迹的运动分析研究,提出了针对这几种常用焊接轨迹下观测视角的运动轨迹规划方法,解决了虚拟焊接机器人焊接轨迹再现时,焊接点的自动追踪观测、焊接点的细节展示和焊接点的视线遮挡问题。实验表明,该方法能有效自动追踪焊接点并清晰观测到虚拟环境下虚拟焊接机器人的焊接细节。In order to clearly observe the reappearing trajectory of virtual welding robot in the virtual reality environment,a research on the posture and motion planning of observation view is started.Though the kinematic analysis of several common trajectory,the posture and motion planning for those trajectories’ observation view is proposed.It solves the problems of automatic tracking observation,detail display of the welding spot and observation block when the virtual robot reappeared the welding trajectory.The experiments show that the method can effectively and automatically track the welding spot and clearly display the detail of welding spot during the reappearing trajectory of virtual welding robot.

关 键 词：观测轨迹 焊接机器人 焊接轨迹 虚拟现实 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]