Research On Operation Simulation And Off-line Programming Of Industrial Robot Workstations

Among various types of automated product lines, the workstations or product lines integrated with industrial robots, which are fit for different manufacturing operations, become a popular development direction of current industry automation. As programming of complex working path for synchronized industrial robot workstations is difficult to resolve by teaching technology, operation simulation technology and off-line programming technology of synchronized industrial robot workstations are studied on the basis of synchronized arc-welding robot workstations.According to the idea of working path discretization, geometric information of space weld is extracted. After placement planning of space welds and path planning of synchronized arc-welding robot workstations, collaborative path planners separate for synchronized multi-robot workstation and synchronized arc-welding robot/positioner workstation are developed. By the use of ADAMS/View and ADAMS/PostProcessor, this paper proposes an efficient method applying to solving inverse kinematics problem of redundant robot system. The job files of synchronized industrial robot workstations can be generated automatically via self-developed off-line programmer. Finally, based on previous studies in our robotics laboratory, a remote control platform for MOTOMAN robots is developed, and provides a powerful support to collaborative control of synchronized industrial robot workstations.By the specific simulation platform of MOTOMAN robots and the experiment of cutting operation under arbitrary complex path, the methods of complex path discretization, extracting feature parameters and solving inverse kinematics problem of redundant robot system are proved to be correct. The feasibility and functions of self-developed collaborative path planners, off-line programmer and remote control platform are also validated.