Method for planning trajectories of industrial robot based on NC (numerical control) codes

An industrial robot and trajectory planning technology, which is applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as complicated use

Inactive Publication Date: 2012-07-18
SOUTHEAST UNIV
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Problems solved by technology

[0004] The problem to be solved by the present invention is: there are many types of working languages ​​for existing robots, and the use of them is more complicated. In order to make full use of the versatility and ease of acquisition of NC languages, the purpose of the present invention is to use the currently widely used NC codes as the working languages ​​of robots. To realize the basic functions of industrial robots such as grabbing, welding, painting, and light cutting

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  • Method for planning trajectories of industrial robot based on NC (numerical control) codes
  • Method for planning trajectories of industrial robot based on NC (numerical control) codes
  • Method for planning trajectories of industrial robot based on NC (numerical control) codes

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Embodiment Construction

[0075] According to the fact that the end tool of the industrial robot is a rigid body fixed to the sixth degree of freedom of the robot, the general NC code is used as the working language of the industrial robot, and the end tool of the industrial robot is used as a virtual tool in the programming coordinate system. Five points are used to describe the basic characteristics of the virtual tool, set five points O, P, Q, S, T, point O is set at the origin of the programming coordinate system, point P is set on the Z axis of the programming coordinate system, and the other three Points Q, S, and T are set according to the specific characteristics of the end tool. Set the Q point so that the Q point coincides with the wrist center C point after the tool is installed, and the straight line QS and straight line ST are perpendicular to each other, such as image 3 ;Transform the data of each NC code, so that the five points of the virtual tool in the programming coordinate system ar...

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Abstract

A method for planning trajectories of an industrial robot based on NC (numerical control) codes relates to a robot trajectory planning method, in particular to a robot trajectory planning method using universal NC codes as a working language. In order to overcome complexity and non-universality of traditional robot working languages, the NC codes are used as the working language to realize basic functions of the industrial robot, such as carving, painting and the like. The concept of 'vertical tool' is adopted so as to quickly convert each NC code into inverse solution required parameters for the robot. Cubic-quintic compound interpolation is used to plan a continuous trajectory for the robot, and an accurate trajectory is obtained.

Description

technical field [0001] The invention relates to a robot trajectory planning method, in particular to a robot trajectory planning method using general NC codes as the working language. Background technique [0002] As we all know, after decades of development, numerical control technology has played a decisive role in the manufacturing industry in both developed countries and developing countries. NC code as the working language of CNC machine tools has formed a consensus among major CNC system manufacturers around the world, and the source of NC code has become extremely extensive. In addition to the existing mainstream CAM software such as MasterCAM, UG, Pro / e, etc., Many scholars at home and abroad have developed special systems to obtain NC codes in special environments. In the 16th issue of "Machine Tools and Hydraulics" in 2010, the article "Development of NC Code Automatic Generation Program Based on VC++" explained how to extract information from DXF files. And conve...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 王引仇晓黎刘明灯惠国保赵鹏
Owner SOUTHEAST UNIV
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