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Robot motion path off-line programming method and system

A technology of robot motion and robot kinematics, applied in the field of robot programming, can solve problems such as restricted extraction of motion path data, and achieve the effects of wide application range, high work efficiency and simple operation

Inactive Publication Date: 2015-09-30
GSK CNC EQUIP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing offline programming software is limited by the function of constructing geometric curves and extracting motion path data from the computer model of the work object, which can only meet the needs of offline programming of some simple curved paths

Method used

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  • Robot motion path off-line programming method and system
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  • Robot motion path off-line programming method and system

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Embodiment

[0059] Such as figure 1 As shown, this embodiment discloses a method for off-line programming of robot motion path, characterized in that the steps are as follows:

[0060] S1. Set robot kinematics constraint conditions; obtain the 3D model of the robot and its tooling; obtain the 3D model of the robot work object; scan the 3D entity data of the robot work object, obtain the Cartesian coordinate system path data of the robot work object and Generate corresponding numerical control code file; In the present embodiment, the Cartesian coordinate system path data of robot work object is obtained by CAD / CAM (Computer Aided Design / computer Aided Manufacturing, computer aided design / computer aided manufacturing) software platform, CAD / CAM The software platform outputs the Cartesian coordinate system path data of the robot work object in the form of a NC program.

[0061] S2. Build a three-dimensional virtual environment for the robot on a computer terminal with an operating platform...

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Abstract

The invention discloses a robot motion path off-line programming method and system. Robot kinematics constraint conditions, a robot, a robot tooling three-dimensional model, a robot work object three-dimensional model and a numerical control code file are loaded in a robot three-dimensional virtual environment; Cartesian coordinate system path data of a robot work object are acquired through the numerical control code file, and the Cartesian coordinate system path data of the robot work object are converted into robot joint coordinate path data; robot motion path simulation is performed, the abnormal condition and security of the robot joint coordinate path data are detected, edited and modified, and the robot joint coordinate path data are converted into corresponding robot motion path programs on the condition that no abnormal condition occurs and the security meets the conditions. According to the robot motion path off-line programming method and system, robot complex motion curve path programming can be achieved, and the advantages of being easy to operate, high in working efficiency and the like are achieved.

Description

technical field [0001] The invention relates to the technical field of robot programming, in particular to a method and system for off-line programming of robot motion paths. Background technique [0002] Robots have only developed rapidly in recent decades. The most typical mechatronics products are now used in all aspects of human life. After going through birth, growth and maturity, robots have become indispensable in the manufacturing industry. There are few core equipment, and it is infiltrating into various fields of human life such as aerospace, military, service, entertainment and so on at an astonishing speed. A robot does not replace human labor in a simple sense. It not only has the ability of people to respond quickly to the environment and analyze and judge, but also has the ability of the machine to work continuously for a long time, with high precision and resistance to harsh environments. In a sense, it is It is a product of the evolutionary process of machi...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 何英武何超杰张振谱
Owner GSK CNC EQUIP
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