Research On Complex Working Path Programming Of Industrial Robot

The programming of industrial robots is usually on-line teaching in the actual work site andthe programming quality is very low, which can't satisfy the complex working request. Theoff-line programming technology builds the working path model of the robot through CADtechnology and finishes the working path planning in the off-line state of the robot through thecorresponding algorithm.The paper developments a robot off-line programming platform based on DXF through theVC++. The DXF file which contains complex working path information is imported into theplatform and the robot working file is directly generated. The platform not only includes2dimensional continuous working path planning functions, but also integrates the discontinuousmultiple objects mixed working path planning function and the surface area cover planningfunction, which applies to robot complex assignments.This paper analyzes the structure of DXF file and realizes the algorithm of extractingworking path information from primary ENTITIES segment of DXF. The complex working pathbreaks down to a series of discrete track points, then the discrete track points will be sorted againin the specified format through an optimization sorting algorithm, and finally the purpose of twodimensional continuous working path planning is finished. On that basis, the research ofmultiple objects mixed working path planning launches again. This paper proposes themultiple objects connection algorithm and realizes the mixed working path planning. To researchof the surface area planning, this paper puts forward two methods: the stationing linkage andthe zoom offset, whose advantages and disadvantages are analyzed and compared.The working file that the robot off-line programming platform generates is imported intoROTSY software for simulation, and into UP6robot for experimental verification, which obtainsthe expected results. The experiments prove the ideas of the robot complex working pathplanning, and the related algorithms to deal with the complex working path on off-lineprogramming in the future have certain referenced effect.