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为清晰观测焊接机器人的再现焊接轨迹的需求,研究了Unity 3D开发环境下的观测摄像机的视角选择与运动规划。通过对几种常用焊接轨迹的运动分析研究,提出了针对这几种常用焊接轨迹下观测视角的运动轨迹规划方法,解决了虚拟焊接机器人焊接轨迹再现时,焊接点的自动追踪观测、焊接点的细节展示和焊接点的视线遮挡问题。实验表明,该方法能有效自动追踪焊接点并清晰观测到虚拟环境下虚拟焊接机器人的焊接细节。
In order to clearly understand the welding trajectory of welding robots, the viewing angle selection and motion planning of the observing camera under the Unity 3D development environment are studied. By analyzing and analyzing the motion of several commonly used welding tracks, the trajectory planning method for these commonly used welding tracks is put forward, which solves the problem that when the welding trajectory of the virtual welding robot is reproduced, the tracking of welding points automatically, Details show and welding point of view obscuring issues. Experiments show that this method can effectively track the welding points automatically and clearly observe the welding details of the virtual welding robot under the virtual environment.