Simulation of Cross-Platform Offline Programming System for a Mechatronic Robot Using the Space Arc Interpolation Algorithm

Abstract

The purpose is to apply the intelligent algorithm to the construction of a cross-platform offline programming system of a Mechatronics robot, and improve the efficiency of robot programming. First, the trajectory of the Mechatronics robot is planned, and the spatial arc interpolation algorithm, tool coordinate system alignment method, and fast search algorithm are introduced. Then, the cross-platform offline programming system of the Mechatronics robot is proposed. Based on the Unity3d platform, the virtual 3D (Three Dimensional) environment is constructed together with trajectory formulation, a program module, motion simulation, and auxiliary module. Finally, the proposed offline programming system is simulated through experiments. The results show that: the overall positioner angle of the robot increases unidirectionally, which is in line with the actual situation. Meanwhile, the rotation angle of the positioner has fallen in two places, causing the positioner to stop in the reverse direction, so the positioner cannot transit smoothly. The robot can operate continuously without machine jam or pause. The angle changes of different joints are quite different. The radian change of the fourth joint is small, while the radian change of the fifth and sixth joints is the largest, and the change interval is [0°, 62°]. The changing trend of the angular velocity of joints 2, 3, 5, and 6 is similar, but the angular velocity of joint 4 does not change. The changing trend of the angular velocity of joint 1 is opposite to that of joints 2 and 5. The results show that the simulation experiment of the Mechatronics robot cross-platform offline programming system based on spatial arc interpolation algorithm is successful, which can provide an experimental basis for the research and development of robot cross-platform offline programming system.