Robots Walk Path Off-line Programming System

In modern industrial field, welding technique intelligentization has been a new topic of theresearch of welding field[1]. From the development of robots, the off-line programming techniqueof arc welding robot can be one of the most important new techniques in the future tens of years.This thesis adopts UG NX4.0system to made the whole model rigging and buildsthree-dimensional sports simulation model, and adopts VC++6.0to made programming methodand establishes kinematics model of welding robot under the connecting rod coordinate system.The key for researching and development made by walking track off-line programming systemfrom robots establishes three-dimensional model simulation technology based on OpenGL on VCsoftware platform. The foundation of three-dimensional graph simulation is to establishkinematics model and geometric model of position changing and robots on the computer and useOpenGL development tool to make simulation test for three-dimensional model on the computerunder VC environment through secondary development model building style to check theexactness of off-line program.Through the foundation of CAD model, we can simulate the three-dimensional walking oncomputer, and gain the normal working status of robots on line to check the robots walking routes.If there are any mistakes, we can correct the program in time to reduce the cost and time of robotprogramming. At the same time, with the mathematic method, we can cut down the possibilities ofwalking colliding.The better the welding walking routes plan, the larger of robot action. Through experimentwith the off-line programming technique in this text, we can get better welding posture andwelding position through off-line programming technique than on-line programming technique.The welding quality can be better as well. Develop route planning software to directly planworking route of robots based on the simulation of three-dimensional model. Through theconnection between the computer and robots, we can make the test by off-line programmingtechnology the thesis researches. The test shows that off-line programming simulation system cansave programming time and cost cutting from users and finish compiling, off-line teaching andothers of sports programs from robots through displaying sports route made by route planningdocuments of robots.