Off-line visual programming method and system for robot

Abstract

The invention discloses an off-line visual programming method for a robot. The method comprises the following steps: S100, setting rotation angles of all shafts of the robot as constraint conditions for movement; S200, applying a camera to acquire images of a target; S300, applying the acquired images to extract the edge and vertex data of the target; S400, applying the edge and vertex data of the target to build a three-dimensional model of the target; S500, applying the three-dimensional model of the target to generate point cloud data of the target model; S600, acquiring the coordinate information of the storage position of a wafer through the robot; and S700, calculating related movement parameters of a robot motor according to the coordinate information of the storage position and the point cloud data and saving the movement parameters. According to the technical scheme, the robot can achieve automatic off-line programming to generate the motion trail of the robot according to the image information of the target without control of staff, so that the staff is far away from a workshop, and accordingly, contamination to the workshop is avoided.

Description

technical field [0001] The invention relates to the technical field of robots, and belongs to equipment in the field of semiconductor automatic processing, in particular to an offline programming method of a visual robot and an offline programming system of a visual robot capable of realizing offline generation of an operation program of a robot motion track. Background technique [0002] Human beings entered the 21st century, with the rapid development of science and technology, they have begun to actively explore areas outside the earth. The ability to develop and utilize space has become an important feature to measure a country's comprehensive strength and status as a great power. Robots are gradually becoming an important means of developing space in the future. Remote control is an important control mode of the robot. Using the remote control robot to perform operations can improve the safety and economy of the operation. [0003] At present, almost all robot operatin...

AI Technical Summary

Problems solved by technology

In short, there are many shortcomings in this teaching method: 1. The robot cannot work during the teaching process, which affects work efficiency; In a clean environment with a cleanliness level, the entry of staff will pollute the clean room to a certain extent; 3. During the teaching process of the robot, if the staff makes mistakes, the robot arm will collide with people, causing serious damage to the environment. Robotic structures and workers take their toll

Images