Spinning Robot Control And Virtual Simulation

Traction and handling of traditional cheese yarns are done by hand.Because there are many chemical materials in the process of dyeing,there is a certain amount of damage to the human body.In this paper,the robot arm is used to complete the task of grasping and handling the cheese yarn.A virtual simulation system is designed based on the background of the spinning robot arm.The Unity3D and the lower computer are finally realized to communicate with each other,so that the control and visualization of the actual robotic arm motion can be realized on the PC side.This article selects a certain model irb120 as the research object,takes the kinematics as the theoretical basis.plans the movement route.At the end of the arm.add an electric gripper.and use STM32 to control the output level to control the opening and closing of the gripper.For the 16-channel I/O input and output of the robot arm,the external STM32 realizes communication through the point-to-point robot arm.For the host computer.Unity3D is used,and a GUI human-computer interaction interface is created to simulate the path of the spinning robot arm.Finally,the PC communicates with the lower computer through a serial port or a TCP/IP communication protocol,and the entire virtual simulation system is completed..The main content of this article is as follows:(1)First introduced kinematics theory,which is the theoretical basis for path planning and virtual simulation kinematics.The classical DH parameter method was used to establish the positive kinematics equation for the geometric model.Then the algebraic method was used to calculate the inverse kinematics solution.Finally,the cubic polynomial interpolation method was analyzed to make the planned trajectory smoother..(2)An electric hand gripper is added to the end of the robot arm and an STM32 control board is added.The electric hand gripper can catch the cheese yarn.Since the robot arm has 16 channels of 10 port input and output.The point-to-point control of the robot arm is achieved through an additional STM32 board.(3)Modeling is the premise of virtual simulation.Firstly,the robotic arm was modeled in SolidWorks,then converted into 3D scene through 3ds Max and imported into the Unity3D scene.The three-dimensional scene of the robot arm virtual simulation was completed.(4)The design concept of MVC is adopted.A program written in C#is used to realize the design of the man-machine interaction interlace of the robot arm and control the robot arm to complete the preset motion trajectory.It also uses a built-in physics engine to achieve collision detection,rotation translation matrix,etc.,to realistically realize the virtual simulation of the robot arm.