Robot visualized virtual teaching system and method based on three-dimensional model

Abstract

The invention discloses a robot visualized virtual teaching system and method based on a three-dimensional model. The system comprises a three-dimensional simulation module, a motion control module, a program editing module and a communication module. The input end of the three-dimensional simulation module is connected with the output end of the motion control module. The input end of the program editing module is connected with the first output end of the three-dimensional simulation module. The first input end of the communication module is connected with the second output end of the three-dimensional simulation module, and the second input end is connected with the output end of the program editing module. The output end is used as the communication interface. The method is capable of, based on Qt and OpenSceneGraph platforms, constructing the visualized virtual teaching system, introducing a robot three-dimensional model and an environment model, regulating the posture relation of the robot three-dimensional model in the three-dimensional scene through dragging the robot three-dimensional model or assigning the teaching target point, realizing the articular motion for driving a robot body, and controlling the operation of multiple axes or multiple directions of the robots so as to arrive to the accurate teaching point position. The teaching process is visible, the operation is simple and convenient, and the transportability is good.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and more specifically relates to a three-dimensional model-based visual virtual teaching system and method for robots. Background technique [0002] The industrial robot system mainly includes the mechanical body, servo drive, control system and teach pendant; the teach pendant is used as the upper computer and is a human-computer interaction tool for the industrial robot system. The operator can view and change the parameters of the robot through the teach pendant, Information such as pose, speed, acceleration and operating mode can also be used to control the movement of the robot through manual teaching and loading programs. The programming work is mainly completed in the teaching pendant. [0003] At present, there are two main programming methods for industrial robots: one is teaching-reproduction programming, and the other is offline programming; the defect of the teaching-reprodu...

AI Technical Summary

Problems solved by technology

[0003] At present, there are two main programming methods for industrial robots: one is teaching-reproduction programming, and the other is offline programming; the defect of the teaching-reproduction programming method is that the movement of the robot can only be controlled by one axis or one direction by pressing the buttons. In addition, only boring data can be observed during the teaching process, and the movement state of the model cannot be observed vividly. The teaching process is all based on experience and visual observation, and the tool cannot be accurately determined. Whether the end point collides with the environment; on the other hand, because the teaching programming can only perform simple point teaching, it is difficult to meet the complex welding, assembly and other work requirements; moreover, because the robot must be out of production in the teaching state, the teaching The teaching process will take up a lot of working time of physical robots, which is inefficient

[0004] Although the offline programming method can complete programming out of the actual working environment and solve the shortcomings of the teaching-reproduction programming method, it still has the following shortcomings: the offline programming method is generally based on commercial large-scale offline programming software, which is expensive. Configuring professional offline programming software will increase production costs; offline programming software is large in scale, generally based on large workstations or PCs, has high hardware requirements, insufficient support for embedded platforms, and poor portability; offline programming software provides There are many functions and complicated operation process, which requires professional technical personnel, which will increase the cost of the enterprise virtually.

[0005] With the expansion of the application range of robots and the increase of task complexity, and the existing programming methods have the above shortcomings, there is a need for a visual virtual teaching method based on the robot's 3D model

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