| Industrial robot programming method mainly has the teaching and reappearing programming and off-line programming, the programming ability determines the function of flexibility and intelligence. Due to the teaching and reappearing programming for the robots which are popularly applied in practical assembly line in industry in China has many limitations, it has been difficult to meet the actual production needs; And foreign prevalent way of robot off-line programming based on PC, this directly led to some drawbacks such as lack of the flexibility and efficiency as well the shortage of controlling, rapid responsiveness and time-consuming problem of trajectory planning algorithm. Targeting to these problems, this paper first attempts to develop a software system with a new programming method named the mobile cross-platform industrial robot off-line programming. The main work is as follows:On the market for many off-line programming software for the hardware platform of high dependence, this paper proposes to develop a set of off-line programming system which can satisfy the embedded mobile side cross-platform. After a lot of comparative analysis of the development platform, the Unity3D software is selected as the development platform of the system. Unity3D has many advantages, such as complete engine function, efficient workflow, lifelike picture, and cross-platform release, etc., which laid a foundation for this paper to develop cross-platform industrial robot off-line programming system.Targeting a type of 6R industrial robot that has been widely used in industry, using the D-H parameter method to establish its mathematical model, and derived its kinematics and reverse kinematics equations of the robot. In addition, introduced the evaluation function based on least momentum transfer to solve the more solutions with the inverse kinematics. Finally, programming to implement it and make a simulation test, which laid a theoretical foundation for trajectory planning of the robot off-line programming system.This paper proposes a robot space circular arc interpolation algorithm, which transfer the space circular arc into a flat circular arc to processing, then through the inverse transformation to allocate various axial amount of interpolation. In addition, this OLP system increase the function of TCP calibration for the education field. Using the three points, five points to deducing the algorithm of TCP’s position and posture, and verify the algorithms with entity robot TCP calibration algorithms. Then also implements the trajectory planning algorithm under the fixed TCP mode and external TCP mode.This paper discusses the principles of the 7 axis trajectory planning algorithm with positioner and robot, and it has disadvantage such as large computation and resource consuming. Aiming at the shortcomings of the this algorithm, this paper puts forward a kind of rapidly search algorithms, positioner as the active arm, industrial robots as slave arm, based on the cubic polynomial fitting curve, draw each joint of the path corresponding to the point angle. This algorithm has a fast response, accurate calculation and other advantages, and it is verified by experiments that the open or closed loop curve are not particularly complex.For the programming implementation, this paper first to analysis and building the system architecture, and develop the OLP system combining with self-design human-computer interaction. Then use the OLP system in the Android mobile terminal to make motion simulation and trajectory planning. Finally, by drawing, grinding and welding application experiment results show that the devebped cross-platform off-line programming system can work for industrial robot off-line programming, and has certain practical significance, and can meet the needs of the production site of cross-platform. |
PDF Full Text Request