广东工业大学学报 ›› 2023, Vol. 40 ›› Issue (02): 30-38.doi: 10.12052/gdutxb.220106

• 综合研究 • 上一篇    下一篇

基于HTC Vive的虚拟工业机器人示教编程系统

何汉武1,2, 余秋硕1, 聂晖1, 何明桐1, 李晋芳1   

  1. 1. 广东工业大学 机电工程学院，广东 广州 510006;
    2. 广东工贸职业技术学院 机电工程学院，广东 广州 510510
  • 收稿日期:2022-06-08 出版日期:2023-03-25 发布日期:2023-04-07
  • 通信作者: 李晋芳(1975-),女,副教授,博士,硕士生导师,主要研究方向为图形图像、虚拟现实、增强现实的基础理论和应用技术,E-mail:lijinfang@gdut.edu.cn
  • 作者简介:何汉武(1966-),男,教授,博士,博士生导师,主要研究方向为数字化设计与制造、增强现实交互技术与装备、虚拟医疗手术及装备、工业机器人应用等,E-mail:hwhe@gdut.edu.cn
  • 基金资助:
    广东省科技计划项目(2016A040403108)；广东省科技创新战略专项资金项目(pdjh201b0156)；广州市科技计划项目(202206010130)

Teaching Programming System of Virtual Industrial Robot Based on HTC Vive

He Han-wu1,2, Yu Qiu-shuo1, Nie Hui1, He Ming-tong1, Li Jin-fang1   

  1. 1. School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China;
    2. Mechanical and Electrical Engineer Institute, Guangdong Polytechnic of Industry and Commerce, Guangzhou 510510, China
  • Received:2022-06-08 Online:2023-03-25 Published:2023-04-07

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摘要： 我国已经成为全球最大的工业机器人消费国，但相关的技术人才缺口正逐年扩大。其重要的原因是工业机器人成本高、操作危险，导致机器人示教编程存在困难。针对这一问题，基于HTC Vive(由HTC公司与VALVE公司合作开发的一款VR设备) ，将虚拟现实(Virtual Reality,VR) 技术与机器人示教编程相结合，开发了虚拟工业机器人示教编程系统。首先，分析系统的VR环境特点，为系统的主界面交互设计立体式用户界面 (User Interface, UI) ；然后进行机器人运动学建模，实现直接拖拽机器人的示教方式；运用词法分析、语法分析和语句执行机制，开发虚拟解释器，并实现快速插入式编程的功能；最后，系统实现了可进行复杂轨迹运动的机器人示教编程功能。实验测试表明系统具有良好的交互性，能进行虚拟机器人示教编程操作。本系统操作安全，并可降低机器人示教编程的成本，有助于机器人相关人才的培养、为工业生产中机器人的仿真提供方案等，助力中国制造业的发展。

关键词: 虚拟现实, 机器人示教, 机器人编程, HTC Vive

Abstract: China has become the largest consumer of industrial robots in the world, but the gap of related technical talents is expanding year by year. The important reason is the high cost and dangerous operation of industrial robots, which leads to difficulties in teaching and programming of robots. To solve this problem, based on HTC Vive (a VR device jointly developed by HTC and VALVE), a virtual industrial robot teaching programming system is developed by combining virtual reality (VR) technology with robot teaching programming. First, the VR environment characteristics of the system is analyzed, and a three-dimensional UI (User Interface) designed for the main interface interaction of the system. Then the kinematic modeling of the robot is carried out to realize the teaching method of dragging the robot directly. Using lexical analysis, syntax analysis and sentence execution mechanism, the virtual interpreter is developed, and the program editing mode of inserting instructions quickly is realized. Finally, the system realizes the robot instruction programming function which can carry out complex trajectory motion. Experimental tests show that the system has good interactivity and can be used for virtual robot teaching and programming. The system is safe to operate, and can reduce the cost of robot teaching and programming, contribute to the training of robot related talents, provide solutions for robot simulation in industrial production, and help the development of China’s manufacturing industry.

Key words: virtual reality, robot teaching, robot programming, HTC Vive

中图分类号: 

  • TH122
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