通用机器人离线编程仿真平台设计  

Design of Off-Line Programming Simulation Platform for Cross-Platform Robot

作　　者：程梓洋 王德权[1] 张南[2] CHENG Ziyang;WANG Dequan;ZHANG Nan(School of Mechanical Engineering and Automation,Dalian Polytechnic University,Dalian 116034,China;School of Big Data Research,Liaoning University of International Business,Dalian 116052,China)

机构地区：[1]大连工业大学机械工程与自动化学院,大连116034 [2]辽宁对外经贸学院大数据研究院,大连116052

出　　处：《组合机床与自动化加工技术》2023年第11期34-37,共4页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：针对国内机器人离线编程仿真平台支持语言范围小,机器人控制功能不完善等问题设计出一套可以支持多种机器人编程语言与机器人结构的通用机器人离线编程仿真平台架构。基于模块化的思想,将该系统划分为两大主要模块,分别是用于解析机器人语言代码的语言解析模块与用于控制与模拟机器人运动的机器人仿真模块。基于语言解析模块识别机器人编程语言代码,并将机器人的程序语言代码解析为用于控制机器人运动的指令数据。基于机器人仿真模块实现机器人正向控制、逆向控制、轨迹规划与三维图形绘制。最后利用Qt为平台开发基础框架,实现代码的编辑,嵌入Bullet物理引擎构造机器人的相关参数,嵌入OpenScenceGraph三维图形引擎将物理场景中的信息以图形的方式绘制在Qt提供的显示界面上,并以一段Rapid语言代码与一种通用的六轴机器人为实验对象验证了平台的基本功能。实验结果表明,该平台能够准确的将语言代码转换为指令数据,并能控制机器人进行相应的轨迹运动,满足机器人离线编程需求。Aiming at the small range of languages supported by domestic robot offline programming and simulation platforms,as well as the imperfect robot control functions,a universal robot offline programming and simulation platform architecture that can support multiple robot programming languages and robot structures has been designed for robot control.Based on the idea of modularization,the system is divided into two main modules,namely,a language parsing module for parsing robot language codes and a robot simulation module for controlling and simulating robot motion.Based on the language parsing module,the robot programming language code is recognized,and the robot programming language code is parsed into instruction data for controlling robot motion.Based on the robot simulation module,robot forward control,reverse control,trajectory planning,and 3D graphics rendering are implemented.[JP2]Finally,using Qt as the platform to develop a basic framework,implement code editing,embed the Bullet physics engine to construct the relevant parameters of the robot,embed the OpenScienceGraph 3D graphics engine to graphically draw the information in the physical scene on the display interface provided by Qt,and validate the basic functions of the platform with a section of Rapid language code and a general-purpose six-axis robot as experimental objects.The experimental results show that the platform can accurately convert language codes into instruction data,and can control the robot to perform corresponding trajectory movements,meeting the simulation requirements.

关 键 词：离线编程 语言解析 机器人控制 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]