论文部分内容阅读
针对机器人三维实时运动仿真常用方法中不能与控制系统开发平台相融合、缺乏算法支持的问题,以用于检测压力容器的检测机器人为研究对象,设计出针对该机器人的三维实时控制系统软件。此软件将控制系统与三维实时仿真平台相融合,不仅能够远程对检测机器人生成并下达控制指令,而且利用Visual C#软件对Solid Works软件二次开发后形成的三维实时仿真平台,对机器人的运动状态进行实时仿真。现场使用结果表明,使用此软件能够安全可靠地对压力容器进行检测,三维实时仿真平台能有效提高仿真的精确度,实现对检测机器人运动状态进行全方位观测。
Aiming at the problem that the common methods of robot 3D real-time motion simulation can not be integrated with the control system development platform and the algorithm is not supported, the robot used to detect the pressure vessel is taken as the research object and a 3D real-time control system software is designed for the robot. The software integrates the control system with the three-dimensional real-time simulation platform, which not only can generate and issue control commands to the detection robot remotely, but also uses the Visual C # software to create the three-dimensional real-time simulation platform after the secondary development of Solid Works software. Real-time simulation. The field application shows that the software can be used to detect the pressure vessel safely and reliably. The three-dimensional real-time simulation platform can effectively improve the simulation accuracy and achieve the omni-directional observation of the robot’s movement state.