基于OPC UA的机器人集成系统多平台虚实联调仿真工站设计与开发
Design and Development of Multi-platform Virtual and Real Simulation Station of Robot Integrated System Based on OPC UA
张景生 1张晓鹏 2简志雄2
作者信息
- 1. 广东职业技术学院,广东 佛山 528041
- 2. 广东环境保护工程职业学院,广东 佛山 528216
- 折叠
摘要
以工业机器人码垛工作站为例,将机器人的IRC5 控制器设为OPC UA服务器,通过OPC UA技术实现多个平台联合仿真的全虚拟系统.在客户端控制机器人启停,读取机器人运行状态、I/O信号、对六轴角度等进行数据采集.最后,对机器人和PLC进行联合编程,实现机器人工站的多平台协同仿真与数据链接和嵌入.仿真结果表明,该方法验证了机器人集成系统多平台虚实联调仿真工站的可行性和有效性,为机器人集成系统的设计及调试提供了新的解决方案,对提高课堂效率和教学质量、缩短生产现场调试周期具有较高的参考价值.
Abstract
In this paper,the industrial robot palletizing workstation is taken as an example,the IRC5 controller of the robot is set as OPC UA server,and the full virtual system of multi-platform co-simulation is realized by OPC UA technolo-gy.Control the start and stop of the robot at the client side,read the running status of the robot,I/O signals,and collect data on the six-axis Angle.Finally,the robot and PLC are jointly programmed to realize the multi-platform co-simulation and data linking and embedding of the machine manual station.The simulation results show that the method verifies the feasibility and effectiveness of the multi-platform virtual and real simulation station of the robot integrated system,provides a new solution for the design and debugging of the robot integrated system.
关键词
工业机器人/RobotStudio/TIA/Portal/NX/MCD/多平台联合仿真Key words
industrial robot/RobotStudio/TIA Portal/NX MCD/multi-platform co-simulation引用本文复制引用
出版年
2024
NETL
NSTL
万方数据