Trajectory Planning For Industrial Robots Based On CAD/CAM Software

Robot's path planning plays an important role in controlling the robot. This paper mainly researches continuous path planning of robot's end effector based on ABB-IRB140 industry robot. First, build on ABB-IRB140 industry robot's coordinates system according to D-H method. Second, the kinematics analysis of 6R robot is given, the kinematics equation of robot are set up, and the back-kinematics equation of the robotic are analyzed. On the basis, this paper proposed an continuous path planning algorithm based on CAD/CAM technology, and completed CNC Machining Simulation by virtual robot model.The surface information of workpiece is obtained through the milling module of the CAM software, and on ground of the consideration of the requirement of processing speed and accuracy ,it adopts interpolation algorithm of cubic parametric B-spline to the problem of cumulative string. The CNC track is transformed to the robotic continuous path after the track is adjusted by the parameters. This paper introduces the Cubic B-spline curve interpolation algorithm in detail, and gives interpolation algorithm's software design. The experiment result shows that the robotic continuous path produced by this algorithm is of higher precision and more smooth motion, which can meet the modern mechanical demands of high speed and accuracy in manuafacturing complicated profiles.Then, on the basis of VERICUT, it can drive the robot model to complete motion with NC code which is generated by CAD/CAM system through building virtual robot model, modifying parameter document and control document. A typical example demonstrates the whole process of robot simulation under VERICUT environment. This kind of technique makes CAD/CAM system completely connected with virtual robot. It can solve all kinds of problems when works come across during the working period by computer. Meanwhile, it can remarkably shorten the cycle of exploitation, reduce the cost of production and improve the quality of product. Finally by establishing the communication between robot controller with computer, movement of robot has been completed, therefore verifying the correctness and feasibility of the path planning algorithm.