| Complex trajectory planning is required to write Chinese characters by using industrial manipulator.Each character strokes and structure is different and the process of writing Chinese characters can not be completed in one time,which needs to have a number of pen up movement,Aiming at this problem,this paper studies the calligrapy robot,which is mainly used in teaching and popular science demostration.The work of this paper is as follows:(1)Design the overall scheme of the Chinese writing system,including the design of writing system requirements,design of writing system,RAPID module design and the designing scheme of windows form application.(2)By comparing the two kinds of the characteristics of chinese character font library,select the vector font with less distortion after scaling.The vector font file contains the common Chinese character stroke coordinate information.The trajectory planning process of the robot was determined,and the control parameters of the robot were determined by orthogonal experimental method.(3)The IRB1410 industrial mechanical arm to carry on the positive and inverse kinematics solution,with the help of a PC SDK developed a computer program used to monitor and control the robot,the real-time input of Chinese characters written to the robot coordinate array of RAPID application data,as well as the RAPID process of start,stop,and reset of the program pointer function.The off-line simulation is realized using the virtual controller.(4)Chinese character writing system was built based on ABB IRB1410 industrial mechanical arm,and the writing of Chinese characters was completed by holding the marker pen at the end of the robot.The robot writing system can effectively complete real-time input any characters and identify the coordinate information stored in the vector fonts,through the C#program to coordinate arrays written to the robot controller,the automatic generation of RAPID program to control the robot for writing Chinese characters. |
PDF Full Text Request