Research On Working Path Planning And Off-Line Programming Of Industrial Robot

Nowdays, industrial robots are used more and more widely in our country. The method for programming industrial robots is on-line teaching in most cases and this method is time-consuming because of programming robots on the job in industry. The method of on-line teaching can not fulfill the working demand. So the develop of off-line programming is needed. The method can overcome the problems in on-line programming and is based on the CAD model. AutoCAD has been widely applied in the field of mechanical design and making. This paper investigates a robot-programming approach that generates robot program automatically and exactly on the basis of 2D model of industrial robot working path. And this continuous path model drew in AutoCAD can be composed of the line, arc, and B-spline geometry objects at any connecting type. The off-line programming software studied in this paper is applicable for arc welding, laser cutting and automatic potting pastern.When the working path model of industrial robot composes the free curve geometry object, the method of interpolation and subdivision of curve is adopted. In this paper, the method which applies 3-order B-spline curve to fit the free curve of AutoCAD is discussed in detail. After applying interpolation to B-spline curve, the B-spline can be approached by many pieces of line. The approaching error is analyzed in detail. And the off-line programming software studied in this paper can realize the computer interpolation algorithm automatically using least nodes to meet the requirement of industrial robot working precision.This paper introduces how to get the drawing information about the point, line, arc and B-spline geometry objects and how to deal with the information by using advanced programming language on account of the structure and compose of the Motoman robot program language. When these steps are finished, the coordinate data of points are created. The sequence of these points data is renewed on the foundation of the information about the label points made by the users. Besides that, the principles and methods of creating the Motoman robot program are analyzed in detail. And the results of some experiments testify the feasibility of the off-line programming software studied in this paper.