Research On Immersive Virtual Display System Of Industrial Robot

Immersive virtual reality technology has the advantages of enhancing visual effects and improving interactive experience,and is widely used in manufacturing,retail and education fields.Industrial robots are the product of multi-disciplinary intersection,and its display is a necessary link in the production and trade process of enterprises.During influence of the global epidemic,physical exhibitions are limited and living environment are changed,it is need to conduct research on immersive industrial robot virtual exhibition system.Therefore,studying the ambient occlusion algorithms that affects visual effects and exploring real-time interaction method related to inverse kinematics have important theoretical significance and engineering application value.In this research,combining with real-time light rendering,human-computer interaction technology and other methods,industrial robot as prototype is taken,immersive as the main line of research is adopted,and two aspects of realistic effect and real-time interaction are further studied.To design and implementation of an immersive industrial robot virtual exhibition system combined with HTC VIVE.The main contents and innovative points are as follows:Based on multiple importance sampling strategy,the screen space ambient occlusion algorithm was proposed,and the rendering effect and computational efficiency of the algorithm were compared with the two classical algorithms.Based on the detailed analysis of the principle of ambient occlusion,and the realization of the logic flow of the screen space ambient occlusion algorithm,two sampling parts are designed to calculate the Monte Carlo estimator,and the different parts of the integrand are sampled respectively.Some experiments were carried out to prove effectiveness of the algorithm for rendering frame rate and visual effects.The real-time interaction method between the virtual industrial robot and the user was explored,and the accuracy and real-time nature of the robot’s pose transformation during the follow-up process were verified.Focused on the inverse kinematics of industrial robots,in view of the low response efficiency and insufficient calculation accuracy of existing real-time interactive technologies in the virtual development platform,a real-time interactive algorithm of virtual industrial robots based on forward and backward reaching inverse kinematics was proposed.Then the dynamic link library that encapsulates the algorithm was called in the game engine to realize the follow-up behavior of the user and the welding robot.Developed and realized the virtual exhibition system of immersive industrial robot.With HTC VIVE and Unreal Engine as the software and hardware platforms,with the help of ray principle,collision detection,vibration feedback and particle system technologies,the goals and requirements of users such as roaming virtual scenes,autonomous positioning and simulation of welding sparks are realized.Based on the principles of interactive interface design,a series of hierarchical interfaces that conform to the system operation logic were designed.