基于VC++与Open Inventor的工业机器人切割仿真系统设计

摘要

为了解决不具有离线编程功能的切割机器人对形状复杂的工件作业时,在线示教和调试的难题,开发了一套基于VC++与Open Inventor开发环境的工业机器人切割仿真系统.该仿真系统采用计算机图形学、虚拟现实、计算机编程等技术和方法,建立了六自由度工业机器人运动学、动力学、轨迹规划以及管件切割的仿真平台,并具有文件管理、参数输入、结果输出、图形显示等功能.利用KUKAKR16工业机器人,以管件切割为对象,进行了机器人切割的算法验证、三维图形显示与动画仿真.结果表明:该仿真系统能较好地满足交互性与实时性要求,验证了切割仿真系统的有效性.%In order to solve the problem when off-line programming capability cutting robot working on complex parts don't have the function of on-line programming by demonstration and debugging,we developed a new industrial robot cutting simulation based on the development of VC + + and Open Inventor.This simulation system use the technology and manner of computer graphics,virtual reality,computer programming etc.to build a 6-DOF industrial robot simulation platform,which has the kinematics,dynamics,trajectory planning and cutting pipe function,meanwhile has the function of file management,parameter input,result output,graphic display etc.We used the KUKA KR16 industrial robot to verify the algorithm validation,display the 3-D graphics and simulate animation.The result showed that,the simulation system can satisfy the requirement of interactivity and real-time,and verify the effectiveness of cutting simulation system.