Research And Design Of The Industrial Robot's Off-line Programming System

With the development of science and technology and the introduction of industry 4.0,robot technology has been widely used,and the requirements for robot programming technology have become increasingly high.Due to the existence of traditional online programming efficiency,low precision,poor security and other problems,it has been far from meeting the market demand.Many companies at home and abroad to develop an off-line programming has its own special system software,but expensive and not open source,only to use individual company's robot,poor universality,therefore it is necessary to conduct the thorough research to the robot offline programming system,and after verifying the robot off-line programming system performance play an irreplaceable role.This paper takes a six-degree-of-freedom modular series robot as the research object,and adopts the MVC architecture pattern to design the off-line programming system,which is mainly composed of several modules of kinematics,trajectory planning,virtual modeling,off-line programming and auxiliary functions.The specific research contents are as follows;To solve the kinematics problem,the robot linkage is modeled by the d-h parameter method,and the forward kinematics is analyzed by the homogeneous matrix transformation of the linkage coordinates.In view of the inverse kinematics problem,the analysis of the analytical method,the proposed analytical method of q + by combining the BP neural network(q(28)0,1???6)model for inverse solution of calculating,and according to the different modes of the combination of the inverse solution of error analysis,found the robot inverse solution the optimal portfolio model,for the development of off-line programming system kinematics module laid a foundationin.According to robot path planning problem,discusses the robot trajectory in joint space and cartesian space interpolation algorithm,and then analyzed the robot but path in joint space points and the path of five cubic polynomial interpolation and polynomial interpolation,parabolic transition linear interpolation algorithm and the advantages and disadvantages of different algorithms,then analyzes the cartesian space track line and arc interpolation,to achieve the trajectory planning of the off-line programming system virtual model provides a method and dynamic simulation.To solve the problem of virtual modeling,this paper uses MFC and Open GL technology to read the STL format file output from the connecting rod model established by Solid Works.When the data information of connecting rod file is read,the connecting rod is recombined through functions such as rotation and translation in Open GL to complete the establishment of virtual model.Aiming at the development of off-line programming module,on the basis of studying other robot programming languages,this paper standardizes a programming language and explains the format of the standard language.The programming module is divided into off-line teaching and off-line manual programming.The auxiliary function modules mainly include: changing the background and the color of the robot,switching the view,grasping and closing the robot hand,displaying the real-time status information of the robot,drawing the motion curve of the robot end,etc.Finally,the system was used to conduct the assembly experiment of complex track axle sleeve,and the stability,flexibility and reliability of the off-line programming system architecture design were verified through the track and state information display of hand claw movement.