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V-Rep-based robot virtual teaching demonstration system

A robot and teaching technology, applied in the direction of instruments, teaching models, educational tools, etc., can solve the problems of not fully meeting the customer's automation line control requirements, robot programming language differences, and inconvenient development of autonomous systems, etc., to achieve good experience and interaction The effect of sexiness and large operating space

Active Publication Date: 2017-10-20
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, most of the above offline simulation software only support the robots of our own company, and cannot fully meet the various automation line control requirements of customers, and the versatility, compatibility, and user integration are not strong.
Moreover, the robot programming languages ​​supported by various systems are also quite different.
The above two points have brought inconvenience to the use of customers and the development of independent systems.

Method used

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  • V-Rep-based robot virtual teaching demonstration system
  • V-Rep-based robot virtual teaching demonstration system
  • V-Rep-based robot virtual teaching demonstration system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach

[0027] As a kind of preferred embodiment of the present invention: the step of inputting the positional coordinates of robot teaching key point is: in the Lua script of the scene file that V-Rep opens, load Lua-SDL2 storehouse and call the relevant function in the storehouse, Manually manipulate the 3D mouse to make the end of the visible robot in the virtual scene move to the specified pose according to the movement of the human hand. The specific implementation method is: after manipulating the three-dimensional mouse to obtain the movement and rotation of each axis of the robot, the method of accumulating the amounts of each axis is used, and the pose of the end of the virtual robot is set according to the final accumulation result, so as to realize human-hand alignment. The continuous control of the end pose of the visible robot makes the end of the visible robot move to the specified pose according to the translation or rotation of the human hand.

[0028] Of course, the ...

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Abstract

The invention discloses a V-Rep-based robot virtual teaching demonstration method. The method comprises the following steps that: the virtual teaching demonstration scene file of a teaching system is stored in offline simulation software V-Rep; a human-computer interaction interface is developed; a three-dimensional mouse is connected with the USB interface of a computer through a wireless receiver; in the interface of a virtual machine, the three-dimensional mouse is set to be disconnected from the host of the computer so as to be connected with the virtual machine, the virtual teaching demonstration scene file pre-stored in the software V-Rep is enabled and operates; after the virtual teaching demonstration scene in the V-Rep operates, the position coordinates of robot teaching demonstration key points are inputted; after teaching demonstration is terminated, the robot terminal can move between two teaching demonstration key points to reproduce a teaching process; and in the teaching reproducing process, an inverse solution is calculated. The system enables better experience and has high interactivity.

Description

technical field [0001] The invention relates to a robot virtual teaching system, in particular to a V-Rep-based robot virtual teaching system. Background technique [0002] The performance and interface design of the robot teaching system directly affect the use effect of industrial robots. From the earliest single command input to the current highly integrated system integrating programming, simulation, testing, system setting and other functions, it has a great role in the robot system. pivotal role. The existing robot teaching system is usually a set of hardware devices, including input and output devices such as teaching boxes, handles, etc., and is connected to the robot control cabinet through cables to realize teaching and control of the robot. However, the development and production costs of these devices are relatively high, and the cables also limit the working scope of the operator. [0003] With the development of computer and human-computer interaction technol...

Claims

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Application Information

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IPC IPC(8): G09B25/02G06F17/50G06F3/0346
CPCG06F3/0346G06F30/20G09B25/02
Inventor 丁雅斌虢薇罗振军黄田
Owner TIANJIN UNIV
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