Based Rotsy Arc Welding Robot Offline Programming

functions: carry on three-dimensional graph cartoon simulation applying welding locus layout and robot gesture layout, use graph teaching to catch working points, set welding parameters and interpolation mode, simulate the whole work's course, display working trace, inspect the possibility of collision and suitability of the working locus, calculate every step's time and the whole work's circulating time. The program's every step can be copied, modified and deleted.When the offline program has completed, it can be transferred between robot controller and computer with RS232C. The program kept in computer can be opened and edited in text formatting. When some errors between offline programming and actual work are found, the program must be transferred to programming workout and debug model to improve the program's rationality.The system has been validated by working out program to saddle welding line. In the process of actual work, welding torch moves smoothly and aims at welding line, whose gesture is always in agreement with requirement. It shows that the developed system has achieved the designing requirement.