Multi-mechanical-arm collaborative offline programming method based on RoboDK

Abstract

The invention discloses a multi-mechanical-arm collaborative offline programming method based on RoboDK. A multi-mechanical-arm collaborative machining work environment is built in a RoboDK visual interface; a collaborative motion type is determined and master and slave machine work tasks are allocated according to practical workpiece processing needs; mechanical arm kinematics analysis is completed, and a motion path is planned on the designated collaborative motion type; a collaborative work program is compiled with the combination of a RoboDK-API interface function and the planned motion path; the program runs, collision and path deviation conditions are detected, and corresponding are output; the collision and path deviation is processed according to output data, and therefore the planned motion path is adjusted, and the optimal running effect is achieved; and finally, a post processor program is compiled, and a multi-mechanical-arm collaborative practical executable code is generated. By means of the multi-mechanical-arm collaborative offline programming method based on RoboDK, the function of RoboDK is greatly expanded, a new technical scheme is provided for development of the mechanical arm offline programming field, the research and development cycle of multi-mechanical-arm collaborative machining is shortened, and the producing and machining efficiency is greatly improved.

Description

technical field [0001] The invention relates to the technical field of off-line programming of robotic arms, in particular to a multi-robot collaborative off-line programming method based on RoboDK. Background technique [0002] With the rapid development of industrial modernization, robot technology, as an important benchmark reflecting the level of industrial automation and intelligence, has received increasing attention. Among them, the off-line programming simulation technology of the robot manipulator combines computer graphics, linguistics and robotics technology, which solves the shortcomings of traditional teaching programming, effectively guarantees the quality of the produced products, improves labor productivity and improves the working environment. [0003] Compared with the traditional teaching programming method, offline programming has the following advantages: (1) reduce the occupation time of the physical robot, and can process multiple tasks concurrently, t...

AI Technical Summary

Problems solved by technology

They are all solving the problems of lack of collaborative control scheme, poor operation effect and obvious engineering conversion efficiency in the existing technology of multi-manipulator offline programming.

Images