基于X3DOM的工业机器人虚拟样机设计  

Design of Virtual Prototype for Industrial Robot Based on X3DOM

作　　者：徐玉飞 何岭松[1] 王宇顺 XU Yufei;HE Lingsong;WANG Yushun(School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]华中科技大学机械科学与工程学院,武汉430074

出　　处：《实验室研究与探索》2020年第1期92-97,共6页Research and Exploration In Laboratory

基　　金：国家科技重大专项(2015ZX04005007);2015年国家级虚拟仿真实验教学中心项目(教高厅函[2016]6号)。

摘　　要：为提高实验教学效果,设计并实现了基于X3DOM的工业机器人虚拟样机,无插件的设计方案使得样机的连接和使用能够通过浏览器进行,降低了对操作环境的要求。其中用X3DOM实现三维模型显示,用HTML5实现控制界面和运动控制算法,二者相结合实现机器人运动学模型到三维模型的映射和虚拟样机的基本功能。此外虚拟样机通过TCP通讯实现了工业机器人的远程控制,能够进行实时的虚实结合实验。最后通过实验验证了机器人虚拟样机的准确性、同步性以及远程控制的实时性。In order to improve the efficiency of experimental teaching,an X3 DOM-based industrial robot virtual prototype was designed and implemented.The plug-in-free design allows the connection and use of the prototype to be carried out through the browser,which reduces the requirements of the operating environment.The X3 DOM is used to display 3 D models,and the control interface and motion control algorithm are implemented by HTML5,thus the mapping of the robot kinematics model to the 3 D model and the basic functions of the virtual prototype are realized.In addition,the virtual prototype realizes the remote control of the industrial robot through TCP communication,and can perform real-time virtuality and reality combined experiments.Finally,the accuracy,synchronization and real-time of remote control of the robot virtual prototype are verified by experiments.

关 键 词：工业机器人 虚拟样机 无插件 虚实结合 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]