| Traditional marking equipment has been difficult to meet the marking requirements of complex and diverse workpieces in modern steel industry,so the research and development of robot-based marking equipment is becoming more and more important.Because modern production marking equipment requires faster speed;can adapt to complex workpiece marking requirements;and motion control precision and real-time monitoring is strong,so choose Swiss ABB six-axis robot,its motion control system is superior to the majority of robots on the market,support a variety of communication methods,and support secondary development,for the reality.Time remote monitoring creates the possibility that its off-line programming software is powerful,and programming or modification can be directly synchronized to the robot controller without interfering with the production line operation.This topic takes the design of marking equipment as the primary task,aiming at solving the problems of analyzing the motion control principle of robot,building communication design scheme,off-line trajectory programming and optimization.The main contents of this paper are as follows:1.Detailed analysis of the research background and significance of the subject,enumerated the traditional identification equipment and identification methods,as well as the complexity of the identification field environment,analyzed the new requirements and trends of the development of modern identification,specifically analyzed the development and application of the off-line programming technology of modern industrial robots.2.The kinematics system of the robot is analyzed,the selected ABB industrial robot is modeled,analyzed,its control principle and pose expression are understood,its forward and inverse kinematics and Jacobian matrix are solved,and its simulation model is established by means of computer software MATLAB.The kinematics is verified in the simulation system and solved by Monte Carlo.The card space method is used to solve the workspace.3.Socket communication between robot and PC is realized.With the help of NetAssite software,Socket is used to simulate the communication between robot and camera.The PC SDK of ABB is used in the two development of VS2013 to realize the purpose of monitoring robot.4.The finite-range spraying mathematical model is analyzed,the optimal trajectory planning scheme is selected,the character trajectory is created in CAD,and the virtual workstation is built in Robotstudio,an off-line programming software,to realize the identification of numbers on the cylindrical surface and section of steel coil.The trigger signal of TCP trajectory tracking is established by using the software smart component,and the actual trajectory is observed.The kinematics parameters are monitored,and the velocity joint variables are monitored.Through the analysis of the program,the ideal marking trajectory planning is obtained. |
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