基于工件模型的工业机器人自动编程系统

发布时间：2018-01-08 02:03

本文关键词：基于工件模型的工业机器人自动编程系统　出处：《机器人》2017年01期 　论文类型：期刊论文

【摘要】：针对国内自动编程系统的平台依赖性强、交互性较差、支持的机器人种类受限等问题,提出了一种基于工件模型的高效、灵活、交互性强的自动编程方法.首先,以开源图形库OpenGL和插件机制构建了扩展性强、不受平台限制、便于与实体机器人通讯的开放性平台.其次,采用工件模型的DXF(drawing exchange format)文件自动提取方法解析出作业信息,并为实现任务级作业提供了一种高效的人机交互方式.然后,基于VRML(虚拟现实建模语言)模型实现了不受构型影响的通用6轴关节机器人的逆解.最后,以南京埃斯顿公司的ER16机器人为测试对象进行实验.在自主开发的系统上,实现了不依赖3维CAD(计算机辅助设计)平台的复杂空间曲线(马鞍形曲线)自动编程.该系统支持导入机器人模型进行自动编程,并具有良好的人机交互性.证明了该系统的高效性和实用性.
[Abstract]:In order to solve the problems such as strong platform dependence, poor interactivity and limited kinds of robots supported in domestic automatic programming system, a highly efficient and flexible workpiece model is proposed. Interactive automatic programming method. Firstly, an open platform with open source graphics library OpenGL and plug-in mechanism is constructed, which is easy to communicate with entity robot and is not restricted by platform. The DXF(drawing exchange format of the workpiece model is used to automatically extract the job information. It also provides an efficient way of man-machine interaction for the realization of task-level jobs. Based on VRML (Virtual reality Modeling language) model, the inverse solution of 6-axis joint robot is realized. Taking the ER16 robot of Nanjing Easton Company as the test object, the experiment is carried out on the self-developed system. The automatic programming of complex spatial curve (saddle curve) which does not depend on 3D CAD platform is realized. The system supports the introduction of robot model for automatic programming. It has good man-machine interaction and proves the high efficiency and practicability of the system.
【作者单位】：东南大学自动化学院;复杂工程系统测量与控制教育部重点实验室;
【基金】：国家自然科学基金(61503076,61175113) 江苏省自然科学基金(BK20150624) 复杂工程系统测量与控制教育部重点实验室开放课题(MCCSE2014B02)
【分类号】：TP242.2
【正文快照】： 1引言(Introduction)机器人离线编程技术[1]由于克服了在线示教时无法完成复杂任务、安全性低等缺点而得到广泛的研究.但传统的离线编程技术主要是在计算机系统上复现在线示教的方式,不仅在复杂曲线编程时效率极低,而且此方式带来了新的缺点,即在2维平面对3维仿真空间进行操作

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