Python-based offline programming simulation system for desktop robots

Abstract

A Python-based desktop-level robot off-line programming simulation system comprises a user interaction module, a model management module, a motion track planning module, an off-line programming module, a robot simulation and a post processor module and a robot motion module; the user interaction module provides all the required data to the simulation and post processor module by transmitting control instructions to the model management module, the motion track planning module and the off-line programming module; the robot motion module realizes corresponding operation according to the controlcommand transmitted by the simulation and post processor module; and the model management module is activated by the user interaction module, a desktop robot 3D model is guided, and the motion track planning module plans the motion track according to the processing requirement. The off-line programming module transforms the planned motion track into Python programming language, the simulation andcontrol module completes motion simulation, and a robot executable code is generated by the post processor and is output to the robot motion module.

Description

technical field [0001] The invention relates to a robot off-line programming system, in particular to a Python-based desktop level robot off-line programming simulation system. 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 system of the robot manipulator combines computer graphics, linguistics and robot 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] In the field of robot programming, there are mainly two methods: online teaching programming and offline programming. Online teaching programming is used by most industrial robots. Online teaching programming requires that the robot need...

AI Technical Summary

Problems solved by technology

Off-line programming simulation system for QT development of spraying robot proposed by Wang Xiaoqi, Sun Kai, etc. , developed an offline programming simulation system for industrial robots, but the system did not mention trajectory optimization, poor compatibility with robots, weak human-computer interaction, and not applicable to desktop robots

Yin Song, Tong Liang, Chen Jingxin, Chen Xueneng et al. proposed an offline teaching method for robots based on SolidWorks (Yin Song, Tong Liang, Chen Jingxin, Chen Xueneng. Offline teaching methods for robots based on SolidWorks[J]. Journal of Shanghai Institute of Electrical Engineering, 2012, 15(02):111-114.) With the help of the powerful 3D simulation of SolidWorks, the offline teaching method is realized, but its development interface is not suitable for desktop-level robots, and the trajectory of the robot’s end effector is not optimized accordingly

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