The Development Of Industrial Robot Offline Programming And Simulation Software

With the increasing use of industrial robots,offline programming has gradually become the main method of industrial robot programming.Dedicated offline programming software has the feature of high integration,while with low scalability.On the contrary,universal offline programming software has a better scalability compared with the former one,but higher cost and worse universality.Keeping all these in mind,a offline programming software has developed for robots,with integrating of model analysis,data processing,3D simulation,trajectory planning and program export.The main contents of this thesis are listed as follows:Considering the high stability and low coupling application requirements,a three-layer software architecture is designed,which is consist of interface interaction,logic processing,and data communication separation,using the idea of structural design based on Windows system.The multi-channel inter-thread communication mode based on Zero MQ message queue is developed to solve various communication data of offline programming software and virtual controller.The method for analyzing the graph element structure of DXF model file is designed,and on this basis,the data structure of the array buffer is further adopted to achieve an efficient and orderly storage for the model information.The display method of the graph element composite objects composed into geometric shapes is designed based on the graphic display interface of Open GL,so as to load the robot and the workpiece model.With the transformation relationship of the joint coordinates,the coordinate transformation of the movement and rotation of the robot and the workpiece is completed.For the common robot motions,several important programs are carried out,such as linear interpolation,circular interpolation,spline interpolation,etc.To this end,the programming instruction formats of the robot are designed and,the robot offline program can be automatically generated by using the virtual simulation environment workpiece model data.Finally,through the code interpreter,the accuracy of the program is checked,and the program is transformed into an intermediate structure,and the virtual controller is imported to complete the simulation function of the robot.The offline programming test platform of industrial robot is built,and the model file loading,automatic generation offline program and virtual simulation environment verification are performed on the offline programming software.After completing the simulation verification,the program is then imported into a practical robot test platform to verify its actual effect.The actual verification results show that the software has good feasibility.