Method for measuring rotatable workpiece and using base coordinates in industrial robot system

Abstract

The invention discloses a method for measuring a rotatable workpiece and using base coordinates in an industrial robot system. The method can accurately specify the base coordinates of the rotatable workpiece during the off-line programming process of a robot, the method comprises the following steps that 5 points on the rotatable workpiece are measured in a teaching mode, and a rotary table is rotated by the robot control system twice in the measurement process; the coordinates of the workpiece and the rotary table are calculated by an external computer, the base coordinates are represented as a function of the rotation angle of the rotary table, and the base coordinate data includes three-dimensional coordinates and Euler angles; the base coordinates are written to robot program source codes, and the base coordinate data is in one-to-one correspondence with the rotation angle of the rotary table. According to the method, the coordinates of the workpiece and the rotary table are measured at the same time, so that the steps of teaching measurement are simplified. The coordinates of the rotated workpiece are truly reflected by the base coordinates in the robot program source codes,so that the complexity of offline programming is reduced.

Description

technical field [0001] The invention belongs to the field of industrial robot control, in particular to a method for measuring a rotatable workpiece in an industrial robot system and using a base coordinate. Background technique [0002] Industrial robots are also called joint robots and mechanical arms, usually with six rotating joints. The main working steps of the industrial robot include: (1) Use the teaching pendant of the robot to measure the tool coordinates and base coordinates. The tool coordinates correspond to the tool mounted on the robot flange, and the tool coordinates describe the coordinates of the tool head (TCP) relative to the flange. Base coordinates define the position of the workpiece relative to the robot's world coordinates. (2) There are two ways to program the running path of the robot: offline programming or teaching programming. Offline programming takes place on an external computer. Teach-in programming takes place on the robot system. The ...

AI Technical Summary

Problems solved by technology

[0007] First, measuring the turntable and measuring the workpiece on the turntable are two related steps, and the operation is cumbersome;

[0008] Second, the base coordinate data at a certain rotation angle of the turntable cannot be displayed in the source code of the robot program. This data is hidden in the robot control system, and the operator cannot know the correct coordinates of the rotated workpiece from the source code, which is why the robot is offline. programming makes it difficult

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