基于Unity3D的工业机器人虚实孪生控制仿真研究  

Simulation Research on Motion Virtual-real Twin Control of Industrial Robot Based on Unity3D Technology

作　　者：刘富春 柏受军 郝旭耀[3] 郑群现 江明 LIU Fuchun;BAI Shoujun;HAO Xuyao;ZHENG Qunxian;JIANG Ming(School of Electrical Engineering,Anhui Polytechnic University,Wuhu 241000,China;Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment,Ministry of Education,Anhui Polytechnic University,Wuhu 241000,China;Software R&D Department,Anhui Zuo Biao Intelligent Technology Company,Wuhu 241000,China)

机构地区：[1]安徽工程大学电气工程学院,安徽芜湖241000 [2]安徽工程大学高端装备先进感知与智能控制教育部重点实验室,安徽芜湖241000 [3]安徽佐标智能科技有限公司软件研发部,安徽芜湖241000

出　　处：《安徽工程大学学报》2022年第2期17-25,共9页Journal of Anhui Polytechnic University

基　　金：国家自然科学青年基金资助项目(61803001)。

摘　　要：传统的基于离线编程技术的工业机器人离线编程系统开发模型大多建立在二维平面,观测性差,且离线示教编程脱离实体,未能体现示教过程机器人的运行观测和输入输出信号变化。为了解决上述问题,基于传统的离线编程技术,利用Unity3D引擎开发虚实孪生的虚拟仿真三维环境,可多角度观测机器人运行状态;同时在虚拟机器人仿真系统与实体机器人之间建立通讯,以数据帧的形式传输并在虚拟仿真系统里进行机器人正逆运动学解析,然后反馈给虚拟机器人模型,实现虚拟仿真环境实时模拟实体机器人运动。实验仿真结果表明,基于Unity3D技术搭建的虚拟机器人仿真系统观测性良好,虚拟仿真系统读取机器人控制器数据速度符合同步孪生频率,实现了虚实孪生的机器人运动控制仿真。The traditional offline programming system development model of industrial robots based on OLP technology is mostly based on two-dimensional plane,which has poor observability.Furthermore,the offline teaching programming is separated from the entity and fails to reflect the operation observation and input and output signal changes of the robot in the teaching process.In order to solve the above problems,based on the traditional offline programming technology,the Unity3 D engine is used to develop the virtual simulation 3 D environment of virtual and real twins,which can observe the running state of the robot from multiple angles.Meanwhile,the virtual robot simulation system and the physical robot establish a communication,in the form of data frame transmission and in the virtual simulation system robot forward and inverse kinematics analysis,and feedback in the virtual robot model,virtual simulation environment real-time simulation of the physical robot movement.Experimental simulation results show that the virtual robot simulation system based on Unity3 D technology has a good observation performance.The data reading speed of the virtual simulation system accords with the synchronous twin frequency,and the virtual real twin robot motion control simulation is realized.

关 键 词：离线编程 虚实孪生 UNITY3D 数据帧 正逆运动学 

分 类 号：TP15[自动化与计算机技术—控制理论与控制工程]