一种六轴机器人的三维可视化仿真程序设计  

A Design Of A Three-Dimensional Visual Simulation Program For A Six-Axis Robot

作　　者：蔡嘉晖 王红伟 王漪梦 CAI Jia-hui;WANG Hong-wei;WANG Yi-meng(School of Mechanical and Material Engineering,North China University of Technology,Beijing 100041,China;Beijing Aerospace Measurement and Control Technology Co.,Ltd,Beijing 100041,China)

机构地区：[1]北方工业大学机械与材料工程学院,北京100041 [2]北京航天测控技术有限公司,北京100041

出　　处：《计算机仿真》2022年第3期386-390,共5页Computer Simulation

摘　　要：针对AUBO-I5型协作机器人,进行三维可视化仿真程序设计。首先根据机器人的结构特点,建立机器人D-H坐标系,进行机器人的正逆运动学分析,得到机器人正逆解的求解算法;基于“行程最短”准则获取机器人的运动最优解;利用Solidworks创建机器人三维模型,通过C++编程软件和OpenGL图形库搭建机器人的三维可视化仿真环境。仿真程序能直接观测到机器人的运行状况,同时能通过TCP连接机器人进行仿真示教,并通过仿真结果和示教实验,验证了所提出机器人运动学算法的正确性。In this paper,for the AUBO-I5 collaborative robot,the three-dimensional visual simulation program is designed.Firstly,based on the characteristics of the robot structure,the robot DH coordinate system was established,and the forward and inverse kinematics analysis of the robot was performed to obtain the solution algorithm of the robot’s forward and inverse solutions;then the optimal inverse solution of the robot’s motion was obtained based on the"shortest stroke"criterion;finally,the three-dimensional model of the robot was created using Solidworks and a three-dimensional visual simulation environment of the robot was built using C++programming software and OpenGL graphics library.The simulation program could directly observe the running status of the robot,at the same time,it could be connected to the robot for remote control through TCP,and through the founder results and control experiments,the correctness of the proposed kinematics algorithm and optimal solution selection method was verified.

关 键 词：工业机器人 运动学分析 最优解选取 可视化仿真 远程控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]