| The robot offline programming system is developed on the basis of the robot programming language and is an expansion of the robot language.It uses the achievements of robot graphics to establish a model of the robot and its working environment.It uses some planning algorithms to perform trajectory planning offline through the operation and control of graphics.Robot offline programming system compiled by robot offline programming.Without touching the robot and the working environment of the robot,a virtual reality environment for interacting with the robot is provided on the computer through graphic technology.In recent years,offline programming has attracted extensive attention and has become a very active research direction in robotics.In this paper,the improved DH method is used to establish the link coordinate system of KUKA KR60-3,and the forward and inverse kinematics equations are derived.Matlab is used to verify the correctness of the forward and inverse kinematics equations,and the inverse kinematics of Matlab is used The robot toolbox calculates the joint angle that satisfies the position of the intersecting ship shape,which is more accurate and simpler than the inverse transform method.The KR60-3 robot’s base coordinate system,tool coordinate system,and workpiece coordinate system are calibrated to significantly reduce the offline programming error.The coordinated linkage equation of the KR60-3 robot body and DKP400 positioner is derived and solved,using the shortest The travel law selects the inverse solution of the ship-shaped welding position and attitude,and finally inputs the appropriate inverse solution into the offline programming software to complete the trajectory planning.Using the Pascal language,the secondary development of the KUKA Sim Pro 3.0software was carried out.The secondary development added a welding process module and a trajectory optimization module to Sim pro.These two modules enable the simulation program to control the welding parameters and the generated trajectory program in real time.The adjustment and optimization reduces the time for the staff to set parameters and repeatedly adjust the trajectory at the welding site,and improves the practicality of the robot welding offline programming system.According to the characteristics of the intersecting line welding seam,the welding seam is segmented and different welding process parameters and welding gun postures areset according to the characteristics of different paragraphs.The welding process of the6061 aluminum alloy tube intersecting line welding seam and the welding gun posture are combined to improve Weld formation of 6061 aluminum alloy intersecting line welds was analyzed,and the influence of various process parameters of the robot on the space welds was analyzed through a large number of welding process tests.The B-spline curve was used to control the change of welding current to make the welding space The welding current changes more smoothly during the welding process.Finally,the optimal process parameters for 6061 aluminum alloy intersecting line welding are given. |
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