摘要
在机器人路径仿真跟踪的仿真过程中,由于对机器人模型运动角度控制不当,时常出现路径控制仿真结果与既定路径不符的情况。为此,将虚拟现实技术应用到工业机器人路径跟踪控制仿真中。根据工业机器人动力学与运动学分析结果,在选定的虚拟现实软件中构建机器人3D运动模型以及控制环境模型。采用虚拟运动轨迹计算公式,完成机器人路径跟踪模拟控制算法的设计。通过此公式计算结果,监督机器人模型路径跟踪过程,实现对机器人运动角度的控制。至此,基于虚拟现实的工业机器人路径跟踪控制仿真方法设计完成。构建仿真实验环节,通过与其他两种方法对比可知,此方法的路径控制仿真结果与既定路径一致。综上所述,使用虚拟现实技术可有效弥补原有仿真方法的不足。
In the simulation process of robot path simulation and tracking,due to improper control of robot model motion angle,path control simulation results often do not conform to the given path.Aiming at the problem,virtual reality technology is applied to the simulation of path tracking control of industrial robot.According to the analysis results of dynamics and kinematics of industrial robot,the 3D motion model and control environment model of robot are built in the selected virtual reality software.The simulation control algorithm of robot path tracking is designed by using the calculation formula of virtual motion path.Through the calculation results of this formula,the robot model path tracking process is supervised,and the robot motion angle is controlled.So far,the simulation method of industrial robot path tracking control based on virtual reality has been designed.By comparing with the other two methods,the simulation results of path control of this method are consistent with the established path.To sum up,using virtual reality technology can effectively make up for the shortcomings of the original simulation methods.
作者
毛芳芳
朱仁义
MAO Fang-fang;ZHU Ren-yi(Fuyang Institute of Technology,Institute of Technology,Anhui Fuyang 236031,China;School of Electronic Engineering,Chaohu University,Anhui Chaohu 238000,China)
出处
《齐齐哈尔大学学报（自然科学版）》
2021年第1期11-15,共5页
Journal of Qiqihar University(Natural Science Edition)
关键词
联合仿真
路径跟踪
工业机器人
虚拟控制
joint simulation
path tracking
industrial robot
virtual control
