Virtual teaching method for ABB IRB4600 robot
                                                            PAN Jun hao, ZHUO Yong, HOU Liang, BU Xiang jian
                                        （School of Aerospace Engineering, Xiamen University, Xiamen 361005, China）

Abstract: Aiming at existing problems of virtual robot teaching， like low reality of scene， poor flexibility and so on， virtual teaching was studied. And a design method of virtual teaching is presented for ABB IRB4600 series robot with Virtual Reality technology. And kinematics characteristics of ABB IRB4600 robot was studied and kinematics problem were solved. With reference of real teaching pendant, the development of the virtual teaching pendant was carried out. And the interpreter was designed for the RAPID language with the use of regular expression; especially for motion command， the path planning of the robot was studied. And the virtual teaching scene was built in accordance with real robot station. The results indicate that the virtual teaching system in a manner makes up the shortcomings of virtual teaching pendant. There are high flexibility and strong immersion， and the system can be used to teach industrial robot flexibly and conveniently.

Key words: industrial robot; teaching; virtual reality