针对目前国内广泛使用的机器人示教再现编程方式以及国外普遍流行的机器人离线编程方式中所存在的缺乏灵活高效等问题，文章初次尝试开发了一套能满足实际生产需要的工业机器人跨平台离线编程系统。在作了大量的分析后，选定Unity3 D软件作为系统的开发平台，针对目前工业上广泛使用的一类六轴串联工业机器人建立了数学模型，并推导了机器人的正运动学、逆运动学方程，然后对该类机器人进行了系统开发，最后在可移动终端对系统进行了运动仿真。实验表明，将该系统安装到带Android系统的任何移动端设备上，均可方便用户对机器人进行轨迹规划和运动仿真，可以满足生产现场对跨平台需求。%The current programming for the robots which are popularly applied in practical assembly line in industry in China are still in a manner of the teaching and reappearing or off-line manner based on PC, this directly led to some drawbacks such as lack of the flexibility and efficiency as well the shortage of control-ling and rapid responsiveness. Targeting to these problems, a new programming method named the mobile cross-platform industrial robot off-line programming was proposed in this paper and a system was coded that is based on Unity3D development platform. Firstly, a type of 6R industrial robot that has been widely used in industry was selected as the testing model, and then its mathematical model was built as well as its kine-matics and reverse kinematics equations of the robot are derived. With our system developed, a series of ex-periments were conducted for the motion simulation in mobile terminals. The results have shown that the system can be installed in any mobile terminal equipment configured with Android system and can be easily used to track the robot's trajectory planning and motion simulation.
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