Automatic Path Generation For The 6-DOF Industrial Robot Offline Programming System

Industrial robot path generation methods are mainly divided into two ways,online teaching and offline programming.At present,the online teaching path generation method is widely used at home and abroad.However,the offline programming path generation method can not only carry out path generation of complex curves and surfaces,but also improve path accuracy and path generation efficiency,compared with the online teaching path generation method.The domestic commercial offline programming software relative to the foreign commercial offline programming software is still in the initial stage.Its functions are limited.Its operation is complex.In addition,it has not been popular in practical application.Therefore,this thesis considers that the realization of the industrial robot path generation function and the simplification of the industrial robot path generation process is the core problem of the offline programming software.Based on these,this paper conducts a detailed study on the automatic path generation of the 6-DOF industrial robot offline programming system.The industrial robot path generation problem can be divided into two parts.The first part is about the industrial robot position path generation.In order to improve the efficiency of the industrial robot position path generation,this thesis proposes the pre-processing function to make the multiple complex curves generate the position path at the same time in the offline programming environment.In this thesis,several typical surface path generation methods have been studied in depth,and a triangular mesh section plane method has been designed to develop the automatic position path generation method,including the intersection plane method and contour path generation method.The second part is about the industrial robot orientation path generation.This thesis mainly solves the orientation generation problem of the 6-DOF industrial robot with the sixth degree of freedom redundancy.The forward kinematics,inverse kinematics,and singularity for the 6-DOP industrial robots have been analyzed in order to get the theoretical foundation about the orientation path generation.The redundancy optimization methods of 6-DOF industrial robots have been compared with each other.In addition,the online orientation path generation process is analyzed.The automatic orientation path generation method has been undertaken mainly for automatically adjusting the orientation when the 6-DOF industrial robot is with the sixth degree of freedom redundancy.Finally,the proposed automatic position path generation method and orientation path generation method for the 6-DOF industrial robots are integrated into the path generation module of the industrial robot offline programming software,and the experiments are designed to verify the proposed automatic position path generation method and orientation path generation method for 6-DOF industrial robots.