| Nowadays,Robot off-line programming technology is increasingly used because it can adapt to the complex industrial production requirements.Offline programming technology is mainly divided into off-line teaching programming and offline auto-programming.It is difficult for off-line teachig programming to get rid of some of the shortcomings of online teaching programming.As a task-oriented programming approach,offline automatic programming can effectively improve the programming efficiency.So far,there are a lot of research on the robot off-line automatic programming technology.As the CAD software can provide simulation of three-dimensional space and human-computer interaction means,most of the domestic auto-programming systems are developed based on the CAD software.However,this method makes the functions and performance of the robot auto-programming system are severely limited by the limitations of CAD software.An open platform that is not limited by the CAD platform and has a strong human-computer interaction is developed by an open source library in this article.The platform is widely compatible for the six-axis spherical joint robot that the last three-axis is orthogonal and it can communicate with physical robots conveniently.It doesn't claim too much to the user's robot programming knowledge because the software uses task-oriented programming method.As a result,it can effectively reduce the difficulty of robot programming.First of all,the auto-programming platform was designed as a whole in this paper so that the platform has a high stability.The specific functions of the platform are divided and develop in a modular way.This method not only can avoid the coupling between the functional modules,but also can facilitate the subsequent expansion of the software platform.In addition,the functional modules of the platform combine a portable cross-platform library and plug-in mechanism,so that the software has a lightweight and portable features.Secondly,in order to realize the wide support of the six-axis spherical joint robot that the last three-axis is orthogonal,the deduction of the inverse kinematics algorithm of the modified robot is carried out.At present,some of the advanced foreign robot simulation and offline programming software can generate the inverse kinematics of the robot from the external robot model.Aiming at the commonly used universal six-axis articulated robot,which is commonly used in the industrial field,the study was carried out based on the foreign method.The VRML model is used as a robot simulation model in the software.The method of inverse kinematics of robot based on model is successfully realized so that the platform can offer a wide range of support for the robots.Thirdly,the whole automatic programming system was divided into several core function modules which were developed in a modular way.The first part is trajectory extraction and processing module.The second part is trajectory interpolation and display module.The third part is target position and orientation quickly setting module.The forth part is job file generation module.The fifth part is the interaction between automatic programming platform and physical robots module.Those modules were realized by a dynamic link library way.As a result,the software is more efficient and stable at load and run.The trajectories are automatically extracted from the DXF file of the workpiece model.Then,those trajectories are processed to match the requirements of the automatic programming system.Through the interpolation of the trajectory after the display in the three-dimensional simulation space,users can set the target position and orientation of the robot.In this paper,a method of setting the target position and orientation is proposed,which can be used to quickly set the movement of the robot in the simulated three-dimensional space on the two-dimensional computer monitor.The job file generation module can automatically generate the robot job file.The robot can finish the task through the automatic programming platform and the physical robot interaction module in the end.Finally,an experiment was carried out after the job file was generated from the self-developed automatic programming system.Based on the laboratory's existing robot physics experiment platform,the experiment was taken.The experiments are divided into two parts.Firstly,the simple curve motion function of the robot was experimentally verified.Secondly,the functional experiment of the saddle-shaped curve welding in the industry was carried out. |
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