| In order to solve the disadvantage of trajectory teaching complicated in spraying, this paper put forward and accomplished a new teaching auxiliary device for robot spray strategy acquisition system. it’s has six degrees of freedom, each joint is installed on an absolute rotary encoder. As teaching, acquiring the teaching trajectory by drive the teaching auxiliary device, in the meanwhile recorded each joint Angle by the encoder, The encoder transmit data content through by RS-485,which achieve the purpose of teaching and reappearing robot trajectory by coordinate transformation.First is the design of teaching auxiliary device. In order to make teaching points more stable, using dampers increase friction between fittings to eliminate vibration and energy. Through FANUC M-10iA parameters, the articulated arm forward kinematics model was established, then on this base puts forward, using MATLAB simulation software, through generated space points randomly, got the articulated arm’s workspace simulation model, proved the effectiveness of the work space.Secondly, Based on the STM32 chip designed the trajectory acquisition system, which contain teaching trajectory optimization, graphics simulation. Under the development environment MFC, using Glut of OpengL achieve model simulation and trajectory to reappear. According to the output form of encoder, defining the data stream’s frame, which parses by upper machine, after limiting amplitude wave filter optimizing, automatic generation the robotic readable text.Finally, verified the effectiveness of the teaching system by building platform, Completed the articulated arm teaching trajectory experiment, reappearance the teaching trajectory in the robot, through the analysis of the trajectory simulation by MATLAB, according to analyze the trajectory error found that the encoder error weight,which laid a foundation for further improving teaching articulated arm acquisition system. |
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