Robot off-line programming method

An off-line programming and robot technology, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem that robot programming and operations cannot be carried out at the same time

Inactive Publication Date: 2020-07-07
广州智信科技有限公司
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  • Summary
  • Abstract
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  • Claims
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Problems solved by technology

[0003] Based on this, it is necessary to provide a robot offline programming method for the problem that traditional robot programming and operations cannot be carried out at the same time

Method used

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Embodiment Construction

[0018] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific embodiments described here are only used to explain the present invention, and do not limit the protection scope of the present invention.

[0019] A method for off-line programming of a robot, comprising the steps of:

[0020] Robot work simulation environment construction;

[0021] Generate the robot working path according to the simulation environment;

[0022] Adjust the working path point of the robot and correct the working trajectory of the robot;

[0023] Robot kinematics calculation, reverse calculation of the working trajectory into robot joint motion;

[0024] Simulate robot simulation movement;

[0025] Post-processing generates a robot work instruction file and transmits i...

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Abstract

The invention relates to a robot off-line programming method. The method comprises the following steps that a robot work simulation environment is built; according to the simulation environment, a robot work path is generated; a robot work path point is adjusted, and a robot work track is corrected; robot kinematics calculation is carried out, and the work track is subjected to back calculation toa robot joint motion; robot simulation motion is simulated; aftertreatment is carried out to generate a robot work instruction file, and the file is transmitted to a robot; and the robot runs the instruction file for work. The method can be separated from the robot, under the offline state, the work simulation environment is simulated, running is carried out in virtual environment, whether a point position set by the robot is reachable or not is checked, and whether the point position set by the robot interferes with the surrounding or not is checked; and the robot work path is generated, through correction and analog simulation passing, after aftertreatment, the instruction file capable of being recognized by the robot is generated, and the robot can conveniently carry out work. Meanwhile, the problem that programming and work cannot be carried out at the same time is solved and work efficiency is improved.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a robot off-line programming method. Background technique [0002] The robot program is edited online through the robot teach pendant, which has the disadvantage that programming and operation cannot be performed at the same time, and it may be difficult to implement in the program editing of complex trajectories. This has brought problems such as delaying on-site production beats and efficiency. Contents of the invention [0003] Based on this, it is necessary to provide an off-line programming method for robots for the problem that traditional robot programming and operations cannot be performed at the same time. [0004] A method for off-line programming of a robot, comprising the steps of: [0005] Robot work simulation environment construction; [0006] Generate the robot working path according to the simulation environment; [0007] Adjust the working path point of th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 谢士幸
Owner 广州智信科技有限公司
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