Development Of The Off-line Programming And Simulation System Applied To A Six Degrees-of-freedom Industrial Robot

Off-line programming is one of the key technologies that assure the quality of robot operating procedures,and improve production efficiency and capacity utilization rate.In this paper,the industrial robot off-line programming and simulation system was developed,based on the GSK RB08 industrial robot with six degrees-of-freedom.With the modules including kernel kinematics algorithms,trajectory planning,program editor,robot language interpreter and 3d robot motion simulation,etc.Based on D-H rules,models of the robot Cartesian coordinate system,and the forward and inverse kinematics were built for the RB08 industrial robot,to realize the calculation of forward and inverse kinematics.To solve the multiple inverse kinematics solutions problem,a “shortest stroke” criterion is proposed to get optimal solutions.Spatial line and arc trajectory planning was pursued in Cartesian space.To get a continuous change of robot end effector speed,and to avoid infinite acceleration,partial parabolic curves,as a transition,were employed around the start point and the end point of the time-displacement curves.According to the “uniform acceleration-uniform-uniform deceleration” speed control strategy,segmented normalization factors were proposed to realize linear interpolations of spatial line trajectories and spatial arc trajectories.According to the attributes of the motion-level programming language applied by the RB08 industrial robot,the language interpreter was designed based on PCRE,realized fast interpretations and correct information extractions on robot programs.A characters matching table was built employing PCRE regular expressions,to check program errors in a line-by-line fashion.And employing a twice scanning strategy,lexical analysis,grammar analysis,semantic analysis and information extraction were then conducted respectively.Simulations were also pursued to further test the performance of the interpreter.General design of the off-line programming and simulation system was made for a six degrees-of-freedom industrial robot.Based on the above mentioned kernel modules,kinematics algorithms,space trajectory planning and robot language interpreter,the modules of off-line programming,3D modeling and simulation of work cell,etc.were then developed.Real-world experimental results show that the system is stable and meet the technical requirements.