Research on simulation system of welding robot in Unity3d

In industrial application and teaching training, robot simulation plays an important role. In this paper, the method of system development is discussed. First the robot model and simulation scene model are built. And the kinematics model is established including positive and inverse kinematics. Then two kinds of path, line and circle, are planned about positon and orientation as well. And the pose of torch is discussed for welding. With the help of Unity3d's powerful engine, simulation effects are implemented. Finally, a welding robot simulation system is set up in Unity3d based on Virtual Reality technology. The simulation results show that the system is well applied in engineering and training.