智能制造系统的6R工业机器人仿真和监控平台
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摘要
为了提高工业机器人的交互性,进行了构建具有三维可视化环境的人机交互系统研究。本文以6R机器人为对象建立了机器人运动学模型,利用矢量积方法推导了雅克比矩阵,为仿真和监控数据的可视化奠定了基础。给出了可视化环境的实现方案,设计了编译控制指令和仿真的算法流程,并以JOpen Show Var作为网络通信开发包设计了监控的通信结构。开发实现了机器人的仿真和监控系统,并进行了实验验证。实验结果表明该系统具有形象直观的人机交互环境,而且具有良好的监控实时性。
To improve interactivity between an industrial robot and humans,this study investigates how to build a human-robot interaction system with a 3-D visual interface. First,kinematic models of a 6 R serial robot are built as the research object,and the Jacobian matrix is derived by vector product method. These models are the bases for visualizing the simulation and monitoring data. Then,a scheme is developed to implement the visual environment and design the algorithm flow for compiling control commands and robot simulation. Furthermore,the system architecture of communications for monitoring is designed by using software development kit JOpen Show Var. Finally,the simulation and monitoring system of the robot is developed and implemented,and experiments are performed for validation. Experimental results show that the implemented system has a more intuitive human-robot interaction interface. Moreover,the system has excellent real-time monitoring performance in which the maximum delay is less than 20 ms.
To improve interactivity between an industrial robot and humans,this study investigates how to build a human-robot interaction system with a 3-D visual interface. First,kinematic models of a 6 R serial robot are built as the research object,and the Jacobian matrix is derived by vector product method. These models are the bases for visualizing the simulation and monitoring data. Then,a scheme is developed to implement the visual environment and design the algorithm flow for compiling control commands and robot simulation. Furthermore,the system architecture of communications for monitoring is designed by using software development kit JOpen Show Var. Finally,the simulation and monitoring system of the robot is developed and implemented,and experiments are performed for validation. Experimental results show that the implemented system has a more intuitive human-robot interaction interface. Moreover,the system has excellent real-time monitoring performance in which the maximum delay is less than 20 ms.
引文
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[2]贺正楚,潘红玉.德国“工业4. 0”与“中国制造2025”[J].长沙理工大学学报(社会科学版),2015,30(3):103-110.HE Zhengchu,PAN Hongyu. Germany“industry 4. 0”and“Made in China 2025”[J]. Journal of Changsha University of Science&Technology(social science),2015,30(3):103-110.
[3]RUBMANN M,LORENZ M,GERBERT P,et al. Industry4. 0:The future of productivity and growth in manufacturing industries[M]. Boston:The Boston consulting group,2015:1-14.
[4]喜崇彬.工业4. 0下机器人行业的发展机遇——访IHS工业自动化-亚太研究组研究总监张键[J].物流技术与应用,2015,20(6):103-106.XI Chongbin. Development opportunity of industrial robot with Industry 4. 0——interviewing Zhang Jian,majordomo of IHS industrial automation Asia-pacific research group[J].Logistics&material handling,2015,20(6):103-106.
[5]WANG Lihui. Planning towards enhanced adaptability in digital manufacturing[J]. International journal of computer integrated manufacturing,2011,24(5):378-390.
[6]HARRISON S H. Virtual fusion:the integration and analysis of simulation and real process for manufacturing process deployment[D]. Michigan:University of Michigan,2011:20-106.
[7]MOYNE J,HARRISON III W S. Virtual fusion:the complete integration of simulation for reduced ramp-up and reconfiguration cost[EB/OL]. Ann Arbor:NSF Engineering Research Center for Reconfigurable Manufacturing Systems,2009.[2017-06-15]. https://erc. engin. umich. edu/wpcontent/uploads/sites/50/2013/08/VirtualFusion. pdf.
[8]ABRATE F,INDRI M,LAZZERO I,et al. Efficient solutions for programming and safe monitoring of an industrial robot via a virtual cell[C]//Proceedings of 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Budapest,Hungary,2011:434-439.
[9]NOVK-MARCINCˇIN J,DOLIAK M,HLOCH S,et al.Application of the virtual reality modelling language to computer aided robot control system ROANS[J]. Strojarstvo,2010,52(2):227-232.
[10]VICK A,SURDILOVIC D,DRGER A K,et al. The industrial robot as intelligent tool carrier for human-robot interactive artwork[C]//Proceedings of the 23rd IEEE International Symposium on Robot and Human Interactive Communication. Edinburgh,UK,2014:880-885.
[11]SANFILIPPO F,HATLEDAL L I,ZHANG Houxiang,et al. Controlling Kuka industrial robots:flexible communication interface JOpenShowVar[J]. IEEE robotics&automation magazine,2015,22(4):96-109.
[12]MALY'I,SEDLCˇEK D,LEITO P. Augmented reality experiments with industrial robot in industry 4. 0 environment[C]//Proceedings of 2016 IEEE International Conference on Industrial Informatics. Poitiers,France,2016:176-181.
[13]王宏民,杜志江,闫志远,等.遥操作骨科复位手术网络时延控制研究[J].哈尔滨工程大学学报,2016,37(6):860-866.WANG Hongmin,DU Zhijiang,YAN Zhiyuan,et al. Research on controlling network time delay in teleoperation orthopedic restoration surgery[J]. Journal of Harbin Engineering university,2016,37(6):860-866.
[14]黎柏春,杨建宇,耿磊,等.基于实时逆运动学算法的6R机器人三维仿真[J].组合机床与自动化加工技术,2014(3):45-48.LI Baichun,YANG Jianyu,GENG Lei,et al. Three-dimensional simulation of 6R robot based on real time inverse kinematic algorithm[J]. Modular machine tool&automatic manufacturing technique,2014(3):45-48.
[15]蔡自兴,谢斌.机器人学[M]. 3版.北京:清华大学出版社,2015:35-74.CAI Zixing,XIE Bin. Robotics[M]. 3rd ed. Beijing:Tsinghua University Press,2015:35-74.
[16]PIRES J N. Industrial robots programming:building applications for the factories of the future[M]. New York:Springer,2007:47-57.
[17]SHREINER D, SELLERS G, KESSENICH J, et al.OpenGL programming guide:the official guide to learning OpenGL,version 4. 3[M]. 8th ed. Reading,MA:Addison-Wesley Professional,2013:25-189.
[18]JACOB B,GUENNEBAUD G. Eigen is a C++template library for linear algebra:matrices, vectors, numerical solvers,and related algorithms[EB/OL]. 2017.[2017-06-15]. http://eigen. tuxfamily. org/index. php? title=Main_Page.