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

An off-line programming, robotic arm technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as obvious engineering transformation efficiency, lack of collaborative control schemes, and poor operation results.

Inactive Publication Date: 2017-12-19
ZHEJIANG UNIV OF TECH
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  • Description
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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.

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

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Embodiment Construction

[0053] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0054] The present invention aims at the imperfection and lack of function of the current multi-manipulator collaborative offline programming method, and considers the urgent need of the manufacturing industry 2025 to improve the processing ability of industrial robots. Based on the RoboDK platform and combined with its secondary developed API function, a relatively The perfect collaborative off-line programming method for manipulators improves the efficiency of off-line programming development for collaborative control and greatly enhances the strength of manipulators in the field of production and processing. The present invention first imports the 3D models of the robotic arm, end effector, and processed workpiece into the RoboDK visualization interface, configures the DH parameters of the robotic arm to establish a complete robotic arm simulation model, an...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1671
Inventor 禹鑫燚朱峰欧林林张集汇朱熠琛卢靓
Owner ZHEJIANG UNIV OF TECH
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