中文摘要：

结合虚拟现实技术与电气控制技术，针对装配生产线的特点和控制要求，开发了一套虚拟仿真系统，可用于系统监控、调试和人员培训．利用罗克韦尔软件编写电气控制程序，通过RsTestStand软件搭建机械手自动装配系统的3D虚拟仿真模型，并基于虚拟可编程控制器（PLC），实现了直线型、余弦一直线型速度曲线调速方案在虚拟仿真对象上的应用．虚拟仿真对象的动作视觉效果和监控曲线表明，控制系统工作良好，通过在机械手各动作的启停、加减速、匀速转换时引入余弦调速方案对速度控制进行优化，有效减小机械臂关节的震动和顿挫，取得了较好的动作流畅性．

英文摘要：

A virtual simulation system which is combines electrical control and virtual reality technolo- gy is proposed.The system＇s monitoring, debugging and staff training for visual simulation process of in- dustrial control applications are realized.The ccmtrol program obtained by software of Rockwell is running on PLC.3D virtual simulation model of the automatic assembly system of manipulator is structured by the RSTestStand.To reduce mechanical arm joint motion and force effectively,acceleration and speed reduction of the manipulator movement and optimization of the speed using cosine timing scheme in uniform conver- sion were performed.The experimental verification of motion visual effect and real-time monitoring curve on the object of virtual simulation is achieved.