Six-axis mechanical arm movement control method based on G code programming

Abstract

The invention relates to a six-axis mechanical arm operation method, and particularly relates to a six-axis mechanical arm movement control method based on G code programming, which uses G codes as transit to realize the automatic programming of six-axis mechanical arm movement. The six-axis mechanical arm movement control method based on G code programming comprises the following steps of: (1) constructing a visual model of a six-axis mechanical arm in a 3D (three dimensional) environment; (2) establishing the simulation virtual movement of the six-axis mechanical arm in a matlab simulation control platform; (3) generating G codes according to a path trajectory after drawing with Auto CAD / MasterCAM; (4) planning a movement path by using the generated G codes in combination with the movement characteristics of the six-axis mechanical arm; (5) generating instruction codes according to the movement planning programming of the six-axis mechanical arm, and then carrying out interactive analog simulation movement; (6) overcoming interference problems through interference experiments; and (7) causing the six-axis mechanical arm to complete automatic machining operation in a practical environment. The six-axis mechanical arm movement control method based on G code programming is high in accuracy of machining movement and effectively overcomes or prevents interference problems possibly happening during automatic control.

Description

technical field [0001] The invention relates to an operating method of a six-axis manipulator, in particular to a six-axis manipulator motion control method based on G code programming that uses G code as a transfer to realize automatic programming of the six-axis manipulator movement. Background technique [0002] In the field of programming technology of industrial robots, the application of programming technology to control industrial robots and its application efficiency play an increasingly important role, but in a sense, traditional programming technology is already the mainstay of industrial robot applications. Bottleneck problem, because the commonly used online programming includes teaching programming, sensor-assisted programming, etc., the programming control is poor in flexibility and low in efficiency, especially with the development trend of digitization and paperless in the processing and manufacturing industry, it is often required Processing under the condit...

AI Technical Summary

Problems solved by technology

[0002] In the field of programming technology of industrial robots, the application of programming technology to control industrial robots and its application efficiency play an increasingly important role, but in a sense, traditional programming technology is already the mainstay of industrial robot applications. Bottleneck problem, because the commonly used online programming includes teaching programming, sensor-assisted programming, etc., the programming control is poor in flexibility and low in efficiency, especially with the development trend of digitization and paperless in the processing and manufacturing industry, it is often required Processing under the condition of electronic drawings cannot be realized through teaching without physical objects or models. Therefore, graphic interactive offline programming based on CAD / CAM system has become a trend in the development of industrial robots. Most of the existing offline programming software It is realized by CAD / CAM system, such as the most common CNC machine tool, but only by offline programming control, it can only be used to process simple parts, and the parameters generated by processing are not accurate