Drawing Chinese Character Based On Continuous Path Control Of IRB140 Industrial Robot

As teaching or scientific equipment, writing robot often has four degrees of freedom and works on the plane to write in Chinese, English, as well as all the text on the keyboard and symbols; even graphics by software development. But face the situation of surface space, the robot is apparently powerless. This article is based on ABB's IRB140 industrial robot of six degrees of freedom, on a given plane, as well as the completion of a given surface drawing Chinese characters.This article first carry out the robot's forward and inverse kinematics analysis by D-H matrix, on the basis of which calculates the scope of work of the robot, in order to avoid the campaign singular point and do a reasonable trajectory planning.Then this article designs a program to extract outline information of TTF under the Windows platform; Then beginning with two-dimensional situation, discusses the location interpolation and, combined with the vector equation of spline curve, proposes the interpolation algorithm by the principles of same chord length; Secondly, for a given sphere, on which the posture interpolation is needed, calculates posture parameters of arbitrary point on the spherical surface by the rotation transformation of three-dimensional coordinate system; Finally, the robot comes to draw the results of Chinese characters.This paper discusses the planning methods of the robot to map characters on arbitrary curved space, and confirms by experiment.