Research On The Robot Off-line Programming System

With more and more significant role of robot, various researches on robot areconducted in gradual depth. However, the traditional demonstrating onlineprogramming encounters bottleneck due to its own limitation and it cannot meet all theneeds of production. Encouragingly, the off-line programming of robot overcomes theshortcomings of demonstrating online programming, thus it receives more and moreattention from academic circle. In this dissertation, the key technologies of off-lineprogramming system are researched.According to Reinovo serial robots independently developed by Shenzhen ReinovoTechnology Co., Ltd.,3D visualized dynamic simulated off-line programming systemsoftware based on Windows system are developed, and its3D visualized function isrealized by OpenGL graphical interface, and accordingly the robot model, environmentmodel and work-piece model are established. The robot’s kinematics positive&inversesolution algorithm is realized by D-H method, and RPY expression simplifies theexpression of robot pose state, which can lay foundation for robot off-line programmingsystem.According to the demand of work-piece operation trajectory, robot’s movementtrajectory shall be planed in advance, thus it is critical to analyze the robot’s movementtrajectory. According to the planned trajectory, the robot’s movement trajectory inoff-line programming system is determined. In the trajectory planning, the robot’strajectory planning in joint space and Cartesian space is analyzed. In the Cartesian space,linear trajectory and spatial arc trajectory are explored, and the robot’s pose is planed.In order to enable the system can operate correctly and stably, the robot shall becontrolled to avoid collision in motion or progressing beyond the scope of normal worketc. In this dissertation, AABB hierarchical bounding box tree algorithm is adopted todetect robot’s real-time collision detection in virtual system, and determine in real timeif it goes beyond limit or work abnormally.Finally, based on VC platform, the robot’s off-line programming system is constructed, and its automatic programming module and dynamic simulation moduleare explored. The off-line programming system is verified via the robot’s graspingoperation. The experimental results demonstrate the feasibility of this off-lineprogramming system.