Study On Key Techniques Of Industrial Robots Off-line Programming System

Industrial robot programming mainly includes teaching programming and off-line programming. Facing the application condition and development need of industrial robots, off-line programming is a better choice, which is paid more and more attention, and has advantages of openness, high integration, fast and accurate programming for complex tasks, etc., therefore, the research of off-line programming technique has important application value.The framework of the off-line programming system is analyzed, and the key techniques, such as algorithm of kinematics, trajectory planning in joint space and Cartesian space, program editor and auxiliary function modules are discussed. On the basis of the functional requirements of off-line programming, an off-line programming system for industrial robots is developed, the features and implementation of the basic functional modules are introduced.D-H method is used to analyze kinematics algorithm of the 6R and 5R industrial robots. To solve the problem of multiple solutions to inverse kinematics, an evaluation function is introduced, which analyzes and evaluates these solutions, and then chooses the optimal one. The methods of the robot trajectory planning in joint space and Cartesian space are introduced. To realize the trajectory planning based on time optimal, joint trajectory curve is calculated following the constraints, using the complex method to achieve approximate optimal solution. Trajectory planning based on kinetic characteristics is studied, which includes trajectory planning based on kinetic energy ratios and kinetic energy rates.Automatic programming and program translation between different languages are studied, and the program editor to achieve the main functions is developed. These key techniques, ensuring the practicality of off-line programming and openness, have high application value.