[1]王博,黎柏春,杨建宇,等.智能制造系统的6R工业机器人仿真和监控平台[J].哈尔滨工程大学学报,2019,40(02):365-373.[doi:10.11990/jheu.201707044]
 WANG Bo,LI Baichun,YANG Jianyu,et al.Simulation and monitoring of a 6R industrial robot for intelligent manufacturing[J].hebgcdxxb,2019,40(02):365-373.[doi:10.11990/jheu.201707044]
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智能制造系统的6R工业机器人仿真和监控平台(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
40
期数:
2019年02期
页码:
365-373
栏目:
出版日期:
2019-02-05

文章信息/Info

Title:
Simulation and monitoring of a 6R industrial robot for intelligent manufacturing
作者:
王博 黎柏春 杨建宇 于天彪 王宛山
东北大学 机械工程与自动化学院, 辽宁 沈阳 110819
Author(s):
WANG Bo LI Baichun YANG Jianyu YU Tianbiao WANG Wanshan
School of Mechanical Engineering and Automation, Northeastem University Shenyang, 110819, China
关键词:
智能制造6R工业机器人机器人仿真机器人监控OpenGL运动学模型人机交互
分类号:
TP242.2
DOI:
10.11990/jheu.201707044
文献标志码:
A
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JOpenShowVar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。

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2017-07-07。
基金项目:国家自然科学基金青年科学基金项目(51505072);中央高校基本科研业务专项资金项目(N160303001).
作者简介:王博,男,博士研究生;黎柏春,男,讲师;王宛山,男,教授,博士生导师.
通讯作者:黎柏春,E-mail:libaichun@me.neu.edu.cn
更新日期/Last Update: 2019-01-30