The invention relates to the technical field of non-standard
automation equipment control, in particular to an
industrial robot machining program migration method based on a configuration description file, and solves the problem that a non-standard
industrial robot cannot migrate a
machining program. The method comprises the steps that S1, a configuration description file of a prototype
industrial robot is constructed, and based on object-oriented abstract modeling,
kinematics,
peripheral and communication modeling and a
machining program are included; s2, the target
robot is assembled according to the prototype
physical structure, and it is ensured that the same configuration, component
assembly, the axis movement direction and the origin coordinate are consistent; s3, loading the configuration file to the target
robot; s4, correcting
assembly errors through visual sensing, obtaining accurate coordinates among the parts, and then generating
joint coordinates through inverse solution; and S5, the target
robot executes the adaptive machining program, and program migration is achieved. According to the method, prototype
machine information is packaged through the configuration description file, after the target
machine is loaded, errors are corrected only through visual calibration, rapid adaptive machining can be achieved through
kinematic chain inverse solution, and rapid
copying of robots of the same configuration is achieved.