Research on Embedded 3D Simulation System for Collaborative Robots

Abstract

Abstract In this article designing an embedded simulation system for heavy collaborative robots. From the perspective of control system autonomy, controllability, and economy, the selection of ARM SOC for the embedded computer hardware, LCD driver for the upper computer, Linux operating system, and OpenCasCade for the 3D geometry engine were completed. The localization rate of the industrial robot control system was improved while ensuring performance requirements. Establish a kinematic mathematical model of the robot based on the DH parameter method, and obtain the kinematic equation of the robot's end effector. Simultaneously building an ARM Linux environment that can run simulation systems, using the 3D geometry engine OpenCasCade to load the robot standard STEP model file, using QtCreator to simulate and model the robot, and conducting instance simulations. By analyzing the motion of the robot through simulation results, the correctness of the kinematic algorithm was verified, which meets the expected design goals and provides a reliable basis for the research of collaborative robot trajectory planning and control。