ABB Robot Arm Motion Simulation And Offline Programming System Development

With the arrival of Industry 4.0,the country's economic transformation has rapidly developed a large number of high-end intelligent equipment.The traditional laser cladding uses manual close-range operation,which has a large safety hazard for the high-power laser head.The use of robotic arms instead of labor not only solves safety problems but also improves efficiency.During the operation of the arm,it is often necessary to construct a smooth curve from a set of discrete data points.The traditional B-spline curve has low fitting precision because it does not pass the original curve type value point;the curve interpolation method lacks the locality of the curve.So it is important to study an algorithm to improve the fitting precision of B-spline curve.Firstly,the research object of this paper is ABB IRB 1600 six-degree-of-freedom industrial manipulator.The construction of the mechanical arm linkage coordinate system mainly uses the DH method(the construction method proposed by Denavit and Hartenberg),and the main application of the construction of the kinematic equation of the manipulator.The homogeneous transformation matrix and the method of solving the inverse motion of the manipulator are derived,and the formulas of the joint angles in motion are derived and verified by simulation in MATLAB.Then,from the application of the mechanical arm in industrial manufacturing,the path planning problem of the industrial robot arm in the Cartesian coordinate system is studied.An improved algorithm of B-spline curve fitting is proposed,which is a B-spline curve fitting algorithm for increasing value points.It overcomes the shortcomings of the traditional fitting algorithm without the type point and the curve interpolation algorithm lacking locality.Improve the accuracy of traditional B-spline curve fitting.Simulation experiments show that the improved B-spline curve has a good fitting effect,and this method is applied to the field of laser cladding.Finally,the IRB 1600 arm was applied to the field of laser cladding of materials,and a set of robotic arm offline programming system was designed and developed.The c++ programming language is used to extract the geometric entity information from the solid segments of the DXF(Drawing Exchange Format)file,covering arcs,B-splines,etc.,effectively processing such information,thereby forming coordinate values corresponding to the points required for the robot operation.information.The system takes the DXF file as input and can automatically generate the motion control program of the ABB robot arm through the system processing,and save the file with the MOD as the suffix.The effectiveness of off-line programming software is proved by examples in the corresponding simulation software and experiments.