基于FD on Desk那智机器人在线控制及运动轨迹仿真  

On-line Control and Motion Trajectory Simulation of Nazhi Robot Based on FD on Desk

作　　者：文旭 仲梁维[1] Wen Xu;Zhong Liangwei(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海理工大学机械工程学院,上海200093

出　　处：《农业装备与车辆工程》2022年第4期52-55,共4页Agricultural Equipment & Vehicle Engineering

摘　　要：以那智工业机器人为研究对象,基于工业仿真软件,利用C#在Visual Studio平台上开发了一个机器人在线控制与运动仿真系统。针对市面上工业软件的离线编程以及示教编程的局限性,通过TCP/IP协议以及Socket通信实现上位机对机器人的在线控制,通过工业仿真软件以及编程语言,利用RRT算法实现了机器人的智能路径规划。Taking Nachi industrial robot as the research object,using C#on the VisualStudio development platform,on the basis of industrial simulation software,a robot online control and motion simulation system is developed.Aiming at the limitations of offline programming and teaching programming of industrial software on the market,the on-line control of the robot by the host computer is realized through TCP/IP protocol and Socket communication,and the intelligent route plan of the robot is realized through the use of industrial simulation software and programming language,and using RRT algorithm.

关 键 词：六自由度 机械臂 FD on Desk SOCKET通信 二次开发技术 仿真验证 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]