| In recent years,industrial robots have been used more and more in industrial production,so the demand for talents related to industrial robots has exploded,which leads to the shortage of high-end skilled talents in the field of industrial robots,and the cultivation of talents is facing severe challenges.Based on Unity3 D virtual reality engine,Qt5 development platform and related concepts of vocational education,this paper develops a motion control simulation system of industrial robots based on teaching device.From the perspective of operators,this system can let users experience the operation of teaching device to control the robot’s motion,that is,to control the robot’s motion and operate it in real time in virtual environment.Firstly,the kinematics trajectory of ABB industrial robot is analyzed to design the appropriate trajectory of the robot.The 3ds Max is used to model ABB industrial robot and arc welding peripheral equipment,which provides a realistic basis for the realization of simulation motion control of arc welding industrial robot and the design of motion control interface.Secondly,the overall scheme of robot virtual motion simulation system is designed and planned,including system composition,interface function realization,typical case design,development platform planning,rendering and baking of models in Unity3 D,building the control interface of virtual simulation system,using C#language to realize the basic information interaction of cognitive module scene,and the interactive operation of basic equipment and position layout of assembly module.Thirdly,according to the types and characteristics of robot teaching,the teaching system is designed,including teaching platform development,teaching function realization,teaching operation logic and so on.Python language is used to develop the program on Qt5 development platform,which is compiled and run on Raspberry Pi to realize the control interaction between the robot’s uniaxial motion and the teaching device in the operation module,and the simulation motion of the robot is satisfied according to the teaching device’s control instructions in the programming module.Finally,the communication scheme between industrial robot motion control simulation platform and teaching system is studied,and TCP/IP communication protocol and Socket communication interface are analyzed and adopted to realize the network communication between Unity3 D system and teaching system.This system enables users to learn and improve from the basic cognition of industrial robots to the hands-on operation of their movements,and then to independent programming. |
