Research And Application Of Vector Graphicsand Characters Drawing Based On Sixaxis Industrial Robot

In recent years,the development of industrial robots becomes a hit inChina.With the national "Twelfth Five Year" plan, many Chinese companieshave devoted to the development and production of robots.But there is a verybig disparity between our country and famous foreign companies on the currentrobot technology. The drawing and writing technique of robot involves withkinematics, control theory, computer graphics and mechanical and electrical, andother disciplines. And it also has great application value in industry, medicine,and military field and so on. Combined with the project of a company, this paperdeeply studies the drawing system of vector graphic and character based onindustrial robot. Scientific research means, such as theoretical analysis, softwareimplementation, simulation and experimental verification, have been applied tothis research.In this paper,the main work is as follows:Firstly,the robot model is established.In this paper, the SIASUN industrialrobot(6kg) D-H model is established firstly, based on which the forwardkinematics solution model and Jacobian matrix iteration method are researchedin detail.In addition, the construction algorithm of linear, circular, Bessel curve is reseached in the Descartes coordinates space; and the four element sphericallinear interpolation is adopted to describe trajectory planning of attitude.Secondly,the drawing and writing system is realized. The robot drawingvector graphics and character system is divided into two modules, which arevector graphics and vector character. Aiming at the goal of drawing vectorgraphics object, the structure of vector graphics DXF file is researched in thepaper,and the interface program of vector graphics coordinate informationextraction from the DXF file is desgined on the LabVIEW environment.Lasthly,with the straignt line,circular structure methods in mathematicsinterpolation programming,the vector graphics has been drawed in theLabVIEW.According to the vector character rendering target, the structure ofTrueType vector font and character contour node data structure of Truetype areresearched firsly. Secondly,according to the vector character contour drawingstep, the program is designed to draw the vector character by MFCprogramming method in Visual Studio and LabVIEW environment. At last,combining the working situation of robot in actual application, the function ofadding vector character to the transition path of the contour is realized inLabVEIW by writer.Thirdly,the system is intergrated and tested. In this paper, the relevant stepsof drawing vector graphics and characters by the entity of SIASUN industrialrobot are studied. Firstly, the simulation software of the vector graphics and character drawing of the SIASUN industrial robot is integrated in the LabVIEWenvironment. Secondly, the hardware system of the SIASUN industrial robot issimply tested.After that, he joint data generated in simulation software robot isdownloaded to motion control card. Finally, the graphics and character isdrawed by SIASUN industrial robot entity. The correctness of the software isproved by the test.