关键词: 机器人, 3D模型, 并行处理, 机器人, 半实物仿真

Abstract: Aiming at the three dimensional motion simulation and its real-time online control of industrial robot,a semi-physical motion simulation platform was built in MATLAB.To solve fast importing and real-time displaying with high accuracy of complex 3D models,a SPMD-based parallel processing method was proposed for rapid processing.To satisfy the synchronization of simulation system,Mitsubishi robot MELFA RV-4F was taken as an example to establish TCP/IP communication between platform and robot controller of RV-4F,with which the real-time simulation and online control of RV-4F's forward and inverse motion were realized by interaction through the Graphical User Interface (GUI) of the platform.Experimental results showed that the platform had good usability and high maneuverability,and could meet the needs of teaching and research work well.

Key words: industrial robot, 3D model, parallel processing, robots, semi-physical simulation