Key Technologies And Application Of Industrial Robot Off-line Programming

In recent years,with the large-scale application of industrial robot in manufacturing industry,robot off-line programming method which is safe and efficient has gradually replaced traditional teaching programming method,which is time-consuming and difficult.The robot off-line programming method is applied widely in the industry,as the relative technologies are developed at the same time.The research contents of this thesis are aimed at two key technologies of off-line programming:one is the research of robot off-line path generation method based on motion-sensing device;the other is the research of method for generating robot off-line path which can avoid obstacles automatically.Aimed at specific development environment,the data of color image and human skeleton image can be gained from Kinect device.By displaying the view which combines two images,user can have a intuitive cognition for his location.Lock the first one recognized by Kinect as the teach person,whose gesture information can be gained from skeleton image,then the teaching data collection state can be controlled remotely.Based on this,the general process of teaching data collection is designed.Finally,the suitable collection frequency is chosen with comparative studies.By using three points calibration method,the positional relation between Kinect and industrial robot is confirmed,and the calibration file is generated.The teaching data in Kinect coordinate system is transformed to robot base coordinate system according to the calibration result,and the robot off-line path is generated later.Finally,the path is optimized by smooth method.A motion case for single rigid body is designed,and the research that setting position and pose of rigid body model in path planning calculation is done.The automatic obstacle avoidance path in case is generated,which means that it's feasible to use automatic obstacle avoidance technology for path planning.The models of industrial robot and environment are built.The method for calculating position and pose of all robot models is put forward,which is used in collision detection.Based on this,for multi-rigid body,the automatic obstacle avoidance path of industrial robot is generated.Based on the research,the robot off-line programming system with motion-sensing device and the robot off-line programming system for robot automatic obstacle avoidanceare designed and developed.The off-line code exported is applied to HSR robot,and the correctness and practicability of the thesis' s content are confirmed.