Industrial Robot Offline Programming System Based On UG

Industrial robots were widely used in a variety of processing. Conventional manualteaching programming could not meet the demand of processing, and the offlineprogramming for processing was required urgently. Based on the importance of industrialrobot offline programming software, industrial robot offline programming technology hasbeen studied and the industrial robot offline programming software was developed. First,the robot machining path was planned on the workpiece model and the processing codewhich could run in the robot system was generated. After being verified by the robotmachining simulation and interference checking, the processing code could be used by therobot in the processing.Based on the demand analysis of the processing of the robot offline programming, thetool path was planned on the workpiece to be processed and information of the tool pathwas expressed by homogeneous matrix. The method of using newly created usercoordinate system to calibration for the workpiece coordinate system was presented. Theworkpiece coordinate system could be quickly calibrated and the positional relationbetween the workpiece and the robot could be established. According to the calibrationresult, the position and posture matrix under robot coordinate system could be achievedand then the robot processing cutter location file was generated.Through the analysis of robot kinematics, both the positive solution and inversesolution formula of robot kinematics were deduced. A optimal posture algorithm waspresented, through which the optimal solution could be got in the eight robot inversesolutions.On the basis of the code controlling expression method which was often used in robotsystem, the transformation relations among quaternion, Euler angle and homogenousmatrix were analyzed. Also the robot driver code was generated.Due to the importance of robot machining simulation and interference checking, themodule of robot machining simulation and interference checking was developed. Themodule was used to verify the accuracy of machining path and machining code through motion simulation and interference checking.The prototype system of offline programming software was developed based on theabove researches. The machining code which could work in ABB system was thendeveloped on the basis of this software, which was actually used in the processing of therobot offline programming. Finally the robot offline programming was realized.