中文摘要：

针对由Co De Sys Soft Motion控制的六自由度工业机器人,设计了一种基于OPC标准协议和Web技术的工业机器人3D（三维）虚拟动态监控系统。基于.NET平台的Windows窗体应用程序框架和My SQL数据库,采用C#语言设计了工业机器人监控客户端程序;通过Co De Sys OPC服务器配置工业机器人各关节角和运动状态为数据项,采用Web GL技术和three.js框架建立了六自由度工业机器人Web3D模型,基于机器人运动学设计了工业机器人3D动态网页。实现了工业机器人关节角和状态数据传输和存储,以及基于Web的工业机器人3D虚拟动态监控功能。

英文摘要：

A kind of virtual reality monitoring system for a 6 DOF （ degrees of freedom） industrial robot controlled via CoDeSys SoftMotion was designed based on OPC standard protocols and Web technologies. Based on . NET platform＇ s Windows forms application framework and MySQL database, the client monitoring program of industrial robots was designed by using the C# language. Industrial robots＇ joint angles and the motion states were configured to data items by the OPC server built-in CoDeSys. By using the WebGL technology and three, js framework, a Web3D model of the 6 DOF industrial robot was established. The 3 D dynamic Web pages were designed based on robot kinematics. The data transmission and storage of industrial robots joint angles and motion states were implemented. And the 3D virtual dynamic monitoring system with the industrial robot was realized based on Web.