智能制造系统的6R工业机器人仿真和监控平台  

Simulation and monitoring of a 6R industrial robot for intelligent manufacturing

作　　者：王博[1] 黎柏春 杨建宇[1] 于天彪[1] 王宛山[1] WANG Bo;LI Baichun;YANG Jianyu;YU Tianbiao;WANG Wanshan(School of Mechanical Engineering and Automation,Northeastem University Shenyang,110819,China)

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《哈尔滨工程大学学报》2019年第2期365-373,共9页Journal of Harbin Engineering University

基　　金：国家自然科学基金青年科学基金项目(51505072);中央高校基本科研业务专项资金项目(N160303001)

摘　　要：为了提高工业机器人的交互性,进行了构建具有三维可视化环境的人机交互系统研究。本文以6R机器人为对象建立了机器人运动学模型,利用矢量积方法推导了雅克比矩阵,为仿真和监控数据的可视化奠定了基础。给出了可视化环境的实现方案,设计了编译控制指令和仿真的算法流程,并以JOpen Show Var作为网络通信开发包设计了监控的通信结构。开发实现了机器人的仿真和监控系统,并进行了实验验证。实验结果表明该系统具有形象直观的人机交互环境,而且具有良好的监控实时性。To improve interactivity between an industrial robot and humans,this study investigates how to build a human-robot interaction system with a 3-D visual interface.First,kinematic models of a 6R serial robot are built as the research object,and the Jacobian matrix is derived by vector product method.These models are the bases for visualizing the simulation and monitoring data.Then,a scheme is developed to implement the visual environment and design the algorithm flow for compiling control commands and robot simulation.Furthermore,the system architecture of communications for monitoring is designed by using software development kit JOpenShowVar.Finally,the simulation and monitoring system of the robot is developed and implemented,and experiments are performed for validation.Experimental results show that the implemented system has a more intuitive human-robot interaction interface.Moreover,the system has excellent real-time monitoring performance in which the maximum delay is less than 20 ms.

关 键 词：智能制造 6R工业机器人 机器人仿真 机器人监控 OPENGL 运动学模型 人机交互 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]