Figure 1 Kaifan Industrial Robot System The robot control software (as shown in Figure 2) was independently developed by Guangzhou Kaifan and mainly includes functions such as robot manual, automatic control, robot application development, and robot three-dimensional simulation movement. Among them, the robot three-dimensional simulation function is the unique highlight of the control system, which can be realized after the first simulation; the three-dimensional simulation of the robot can intuitively observe the robot state and walking path, effectively avoiding the robot movement limit, collision and the singularity in the movement trajectory. The emergence of points. By directly integrating the robot simulation program into the controller, the simulation results and the actual operation of the robot are guaranteed to be completely true and reliable. Figure 2 Kaifan robot control software (2) Robot 3D simulation technology Robot simulation system is playing a more and more important role as a safe, reliable, flexible and convenient tool in robot research and development. In the simulation environment, through the research and programming verification of the robot motion, it is possible to realize complex functions such as robot trajectory planning, singular pose, inverse kinematics effective solution, obstacle avoidance algorithm, and even multi-machine coordination work. If the traditional teach pendant is used to operate the robot, when the robot changes the task, it is usually necessary to interrupt the robot's current work, first teach the robot to perform programming, and then the robot performs new work according to the new program. The new teach pendant developed by Qifan Company can be programmed off-line on the simulation system by means of the robot simulation system, and the simulation environment is used to verify whether the program is correct. Finally, the programmed program is loaded into the robot's actuator. The robot can perform new tasks according to the new program. Therefore, the robot can not interrupt the current work, thus improving the production efficiency, and this method is economical and safe. The three-dimensional simulation in Fig. 3 is a small-screen mode, which can realize the side-programming edge simulation function and avoid unnecessary errors. The position information of each axis is displayed on the upper side of the three-dimensional simulation map, and the complete trajectory operation cycle is displayed below the coordinates. The axis position information differs depending on the coordinate system. When the joint coordinates are displayed, joint information, base coordinates, and other coordinate display space positions are displayed.
Fig. 3 Robot 3D Simulation Small Screen Mode As shown in Fig. 4, the 3D simulation full screen mode is shown. In the figure, the robot is performing the automatic simulation operation (virtual axis) according to the program, and at the same time, the robot's end running trajectory can be clearly seen. The virtual axis is the simulation mode. The real axis is the actual operation mode of the robot. In this mode, the physical robot performs the operation, and at the same time, the simulation robot performs precise synchronous movement; the real virtual axis switching is performed through the virtual axis real axis button on the right side of the figure. Switch. Figure 4 Robot 3D Simulation Full Screen Mode (3) Operation Example In order to ensure the normal operation of the robot, first use the "imaginary axis" mode (Figure 5) to observe the walking trajectory of the robot, and determine whether the robot movement will be positive or negative limit or speed. Limit the alarm information; after confirming that the program is correct, switch to the "real axis" mode (see Figure 6) to ensure the physical robot operation while ensuring the enable disconnection. Figure 5 running example - "virtual axis" mode Fig.6 Operation Example - "Real Axis" Mode (4) Custom Case The simulation system in Kai Fan Robot Control Software can be customized according to user requirements. For example, in the simulation system, user-specified tools are added to the robot end flange. Import the corresponding workpiece to be machined, even the entire production line. The following figure is an experimental platform for Kaifan robot simulation system customized for a certain university.
(a) Qifan robot simulation system experimental platform - small screen mode (b) Kaifan robot simulation system experimental platform - full-screen mode (front)
(c) Kaifan robot simulation system experimental platform - full-screen mode (after)
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