CN104942808A - Robot motion path off-line programming method and system - Google Patents
Robot motion path off-line programming method and system Download PDFInfo
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- CN104942808A CN104942808A CN201510371692.5A CN201510371692A CN104942808A CN 104942808 A CN104942808 A CN 104942808A CN 201510371692 A CN201510371692 A CN 201510371692A CN 104942808 A CN104942808 A CN 104942808A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses a robot motion path off-line programming method and system. Robot kinematics constraint conditions, a robot, a robot tooling three-dimensional model, a robot work object three-dimensional model and a numerical control code file are loaded in a robot three-dimensional virtual environment; Cartesian coordinate system path data of a robot work object are acquired through the numerical control code file, and the Cartesian coordinate system path data of the robot work object are converted into robot joint coordinate path data; robot motion path simulation is performed, the abnormal condition and security of the robot joint coordinate path data are detected, edited and modified, and the robot joint coordinate path data are converted into corresponding robot motion path programs on the condition that no abnormal condition occurs and the security meets the conditions. According to the robot motion path off-line programming method and system, robot complex motion curve path programming can be achieved, and the advantages of being easy to operate, high in working efficiency and the like are achieved.
Description
Technical field
The present invention relates to robotic programming technical field, particularly a kind of robot motion path off-line programing method and system.
Background technology
Robot just develops rapidly in recent decades, the most typical electromechanical integrated product, it is used in the various aspects of human lives now, robot experienced by birth, grow up and the maturity period after, become requisite Core equipment in manufacturing industry, and permeated to the every field of the human lives such as Aero-Space, military affairs, service, amusement with surprising rapidity.Robot is not the work replacing people in simple meaning, its existing people is to ambient condition fast reaction and analyze judgement, having again machine can the ability of high, the anti-adverse environment of continuous firing, accuracy for a long time, and it is the evolutionary process product of machine in a sense.
Multivariant robot is through the trajectory path of the motion synthesis machine robot end frock in multiple joint.Different robot engineering application, needs robot to complete various space tracking motion path.The establishment of robot path and robot path programming.Robot motion path is made up of the point set of the joint motions data of each free degree, the location point namely under joint of robot coordinate system.
The motion path programmed method of robot comparatively conventional at present has two kinds:
1, the mode of artificial teaching, controls each joint motions by the hand-held teaching machine of operator, makes robot end reach certain specified point of space, then record the position in each joint, form a spatial point be made up of joint coordinates.This spatial point is a program point on robot motion path.Which is simple to operate, can meet path uncomplicated, the application scenario that number of path strong point is few, but many for path point, the path of path complexity or parametrization geometrical curve, which can not meet the demand of practical application, and robot can not work in teaching process, therefore inefficiency; Be directed to complicated robot work object, need taught point more, often just need during tutorial program to drop into the more time, cause the service efficiency of robot not high.
2, the mode (area of computer aided path planning) of off-line programing, by building with the man-machine interaction of computer or editing space path curve, obtain the geometric data under the path Cartesian coordinate of target, by the motion algorithm of robot, in conjunction with the related process requirement of robot application, be converted to the joint coordinates point of robot.Which can meet the demand of the robot of establishment fast pahtfinder hard, and fairing can be optimized further through computer in path, makes robot run more high efficiency.But existing off-line programming software is limited to the function building geometrical curve and extract motion path data on the computer model of target, can only meet the demand of the off-line programing in some simple curve paths.
Summary of the invention
The object of the invention is to overcome the shortcoming of prior art and deficiency, a kind of robot motion path off-line programing method based on Cartesian coordinate is provided, this programmed method can realize the programming of robot compound movement curved path, has simple to operate, that operating efficiency is higher advantage.
Another object of the present invention is to provide a kind of robot motion path off-line programing system realizing said method.
The first object of the present invention is achieved through the following technical solutions: a kind of robot motion path off-line programing method, and step is as follows:
S1, setting robot kinematics constraints; Obtain the threedimensional model of robot and frock thereof; Obtain the threedimensional model of robot work object; The 3D solid data of scanning robot work object, to get the Cartesian coordinates path data of robot work object and to generate corresponding numerical control code file;
S2, structure robot three-dimensional virtual environment;
S3, the threedimensional model of the robot of the robot kinematics's constraints set in step S1, acquisition and the threedimensional model of frock thereof, the robot work object of acquisition and numerical control code file are loaded in robot three-dimensional virtual environment;
S4, from numerical control code file the Cartesian coordinates path data of read machine people target, and in conjunction with the threedimensional model of robot kinematics's constraints, robot and frock thereof and the threedimensional model of robot work object, convert the Cartesian coordinates path data of robot work object to joint of robot coordinate pathway data;
S5, in robot three-dimensional virtual environment, according to the station-keeping data of reality robotic's frock and robot work object, tool coordinates system and the user coordinate system data of robot are set;
S6, carry out robot motion's path simulation according to joint of robot coordinate pathway data; Emulate animation by observer robot, whether inspection machine people motion simulation path there is exception;
If so, then step S7 is entered;
If not, then step S8 is entered;
S7, carry out editing and revising for joint of robot coordinate pathway data, then return step S6;
S8, judge if security can not meet robot condition of work, then to return the security of robot motion's simulation paths step S7, otherwise enter step S9;
S9, robot program's post processing, according to the program instruction form that robot supports, convert joint of robot coordinate pathway data to corresponding robot motion's path procedure, then output device people motion path program.
Preferably, the Cartesian coordinates path data of described robot work object is obtained by CAD/CAM software platform, and CAD/CAM software platform is by the Cartesian coordinates path data of the form output device people target of numerical control program.
Preferably, in described step S4 the Cartesian coordinates path data of robot work object to convert the concrete steps of joint of robot coordinate pathway data to as follows:
S4-1, Cartesian coordinates path data calculate the original joint data of acquisition robot through the joint inverse operation of robot kinematics;
Whether S4-2, inspection joint data meet robot kinematics's constraints;
S4-3, joint data are carried out to the optimization process of motion path, process seamlessly transitting of the data in each joint;
S4-4, joint forward operation by robot kinematics, check the correctness of joint data, obtain final joint of robot path data.
Preferably, in robot three-dimensional virtual environment, according to joint of robot coordinate pathway data, robot realizes the control of basic 3D vision of three-dimensional simulation, rotation, convergent-divergent, movement.
Preferably, edited by the mode of man-machine interaction the joint of robot coordinate pathway data in robot three-dimensional virtual environment and revise in described step S7, described joint of robot coordinate pathway data are carried out editing and revise the machining posture data comprised robot and are adjusted.
Preferably, in described step S4, the Cartesian coordinates path data of robot work object is converted to the joint of robot coordinate pathway data of the various free degree and outside offhand work.
The second object of the present invention is achieved through the following technical solutions: a kind of robot motion path off-line programing system, comprising:
Robot kinematics's constraints setting module, for setting robot kinematics's constraints;
Robot work object and robot and frock obtaining three-dimensional model module thereof, for the threedimensional model of the threedimensional model and robot and frock thereof that obtain robot work object;
Scan module, for scanning the 3D solid data of robot work object;
The Cartesian coordinates path data acquisition module of robot work object, for the 3D solid data of robot work object scanned according to scan module, get the Cartesian coordinates path data of robot work object, then generate corresponding numerical control code file;
And with the terminal of operating system, for building robot three-dimensional virtual environment; And in robot three-dimensional virtual environment, import threedimensional model and the numerical control code file of robot kinematics's constraints, the threedimensional model of robot work object, robot and frock thereof; Then in conjunction with the threedimensional model of robot kinematics's constraints, robot and frock thereof and the threedimensional model of robot work object, the Cartesian coordinates path data of robot work object is converted to joint of robot coordinate pathway data; Finally convert joint of robot coordinate pathway data to corresponding robot motion's path procedure, and export.
Preferably, the described terminal with operating system comprises:
Path code decoding module, for reading the Cartesian coordinates path data of the robot work object in numerical control code file;
Robot coordinate conversion computing module, for according to the threedimensional model of robot kinematics's constraints, robot and frock thereof and the threedimensional model of robot work object, convert the Cartesian coordinates path data of robot work object to joint of robot coordinate pathway data;
Tool coordinates system and the user coordinate system data of robot arrange module: for the station-keeping data according to reality robotic's frock and robot work object, arrange tool coordinates system and the user coordinate system data of robot;
Robot simulation path clustering module, for control in robot three-dimensional virtual environment, carries out robot motion's path simulation according to joint of robot coordinate pathway data;
Whether path dependent options detection module, there is exception for measuring robots motion simulation path;
Robot simulation path security detection module, for the security in measuring robots motion simulation path;
Path editing modified module, for when robot motion's simulation paths occurs that exception or security do not satisfy condition, edits joint of robot coordinate pathway data and revises;
Robot program's post-processing module, for the program instruction form supported according to device people, converts joint of robot coordinate pathway data to corresponding robot motion's path procedure;
And robot motion's path procedure output module, for output device people motion path program.
Preferably, the described terminal with operating system is computer.
Preferably, the Cartesian coordinates path data acquisition module of described robot work object is the terminal with CAD/CAM software platform; First the 3D solid data of robot work object that scan according to scan module of the CAD/CAM software platform of terminal, get the space path data that robot work object is corresponding; Then according to the Cartesian coordinates path data of space path data genaration robot work object corresponding to robot work object; The CAD/CAM software platform of last terminal passes through the Cartesian coordinates path data of the form output device people target of numerical control program.
The present invention has following advantage and effect relative to prior art:
(1) threedimensional model of the robot of robot kinematics's constraints, acquisition and the threedimensional model of frock thereof, the robot work object of acquisition and numerical control code file are loaded in robot three-dimensional virtual environment by the inventive method respectively, then by the Cartesian coordinates path data of numerical control code file acquisition to robot work object, and in conjunction with robot kinematics's constraints, the threedimensional model of robot and frock thereof and the threedimensional model of robot work object, convert the Cartesian coordinates path data of robot work object to joint of robot coordinate pathway data, then in three-dimensional virtual environment, robot motion's path simulation is carried out, and whether measuring robots motion simulation path there is exception, when not occurring abnormal, the security in measuring robots motion simulation path, joint of robot coordinate pathway data are converted to corresponding robot motion's path procedure when security satisfies condition.The programming of robot compound movement curved path can be realized by the inventive method, there is simple to operate, that operating efficiency is higher advantage.
(2) coordinate system of the inventive method adjustable robot frock and robot work object in Robot Virtual three-dimensional environment, to adapt to the demand of different machines people frock clamp.Therefore the inventive method is applicable to robot frock and the robot work object of any position relationship, has advantage applied widely.
(3) the inventive method possesses the post-processing function in robot motion path, the program instruction form that different machines robot system provider supports is not identical, and the present invention converts joint of robot coordinate pathway data to corresponding robot motion's path procedure according to program instruction form, realize using with the connection of multiple robot system.
(4) side of the present invention converts numerical control code file to by the acquisition of CAD/CAM software desk Implementation robot work object Cartesian coordinates path data, and lead to special path data decoding module in the end side building robot three-dimensional virtual environment and read robot work object's Cartesian coordinates path data from numerical control code file, achieve the seamless link of terminal and CAD/CAM software platform.
Accompanying drawing explanation
Fig. 1 is the flow chart of the inventive method.
Fig. 2 is present system structure composition frame chart.
Fig. 3 a to 3c is the three-dimensional virtual environment surface chart of the inventive method when being applied to automobile exhaust pipe deburring.
Fig. 4 a to 4b is the three-dimensional virtual environment surface chart of the inventive method when being applied to toilet seat glaze spraying.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
As shown in Figure 1, present embodiment discloses a kind of robot motion path off-line programing method, it is characterized in that, step is as follows:
S1, setting robot kinematics constraints; Obtain the threedimensional model of robot and frock thereof; Obtain the threedimensional model of robot work object; The 3D solid data of scanning robot work object, get the Cartesian coordinates path data of robot work object and generate corresponding numerical control code file; In the present embodiment, the Cartesian coordinates path data of robot work object is by CAD/CAM (Computer Aided Design/computer Aided Manufacturing, computer aided design/computer aided machine) software platform acquisition, CAD/CAM software platform is by the Cartesian coordinates path data of the form output device people target of numerical control program.
S2, build robot three-dimensional virtual environment at the terminal with operating platform;
S3, the threedimensional model of the robot of the robot kinematics's constraints set in step S1, acquisition and the threedimensional model of frock thereof, the robot work object of acquisition and numerical control code file are loaded in robot three-dimensional virtual environment;
S4, from numerical control code file the Cartesian coordinates path data of read machine people target, and in conjunction with the threedimensional model of robot kinematics's constraints, robot and frock thereof and the threedimensional model of robot work object, convert the Cartesian coordinates path data of robot work object to joint of robot coordinate pathway data; In the present embodiment, the Cartesian coordinates path data of robot work object is converted to the joint of robot coordinate pathway data of 6,7,8 axles and outside TCP.
In this step in step S4 the Cartesian coordinates path data of robot work object to convert the concrete steps of joint of robot coordinate pathway data to as follows:
S4-1, Cartesian coordinates path data calculate the original joint data of acquisition robot through the joint inverse operation of robot kinematics;
Whether S4-2, inspection joint data meet the constraints of robot kinematics, as range of articulation, Singularity, whether exceed the space etc. of robot.
S4-3, joint data are carried out to the optimization process of motion path, process seamlessly transitting of the data in each joint.
S4-4, joint forward operation by robot kinematics, check the correctness of joint data, obtain final joint of robot path data.
S5, in robot three-dimensional virtual environment, according to the station-keeping data of reality robotic's frock and robot work object, tool coordinates system and the user coordinate system data of robot are set;
S6, carry out robot motion's path simulation according to joint of robot coordinate pathway data; Inspection machine people motion simulation path whether generation is as motion simulation path dependent options situations such as " singular points, unreachable ";
If so, then step S7 is entered;
If not, then step S8 is entered;
In this step in robot three-dimensional virtual environment, according to joint of robot coordinate pathway data, robot realizes the control of basic 3D vision of three-dimensional simulation, rotation, convergent-divergent, movement, to realize the emulation in robot motion path.
S7, carry out editing and revising for joint of robot coordinate pathway data, then return step S6; Edited by the mode of man-machine interaction the joint of robot coordinate pathway data in robot three-dimensional virtual environment and revise in the present embodiment, joint of robot coordinate pathway data are carried out editing and revise the machining posture data comprised robot and are adjusted.
S8, by observing motion path emulation animation, judge that the security of robot motion's simulation paths and path are in the reasonability of process aspect, if can not meet the demands, then return step S7, otherwise enter step S9;
S9, robot program's post processing, according to the program instruction form that robot supports, convert joint of robot coordinate pathway data to corresponding robot motion's path procedure, then output device people motion path program.
As shown in Figure 2, the present embodiment also discloses a kind of robot motion path off-line programing system, comprising:
Robot kinematics's constraints setting module, for setting robot kinematics's constraints;
Robot work object and robot and frock obtaining three-dimensional model module thereof, for the threedimensional model of the threedimensional model and robot and frock thereof that obtain robot work object;
Scan module, for scanning the 3D solid data of robot work object;
The Cartesian coordinates path data acquisition module of robot work object, for the 3D solid data of robot work object scanned according to scan module, get the Cartesian coordinates path data of robot work object, then generate corresponding numerical control code file; This module can be the terminal with CAD/CAM software platform in the present embodiment; First the 3D solid data of robot work object that scan according to scan module of the CAD/CAM software platform of terminal, get the space path data that robot work object is corresponding; Then according to the Cartesian coordinates path data of space path data genaration robot work object corresponding to robot work object; The CAD/CAM software platform of last terminal passes through the Cartesian coordinates path data of the form output device people target of numerical control program.
And with the terminal of operating system, for building robot three-dimensional virtual environment; And threedimensional model and the numerical control code file of robot kinematics constraints setting module, the threedimensional model of robot work object, robot and frock thereof is imported in robot three-dimensional virtual environment; Then in conjunction with the threedimensional model of robot kinematics's constraints, robot and frock thereof and the threedimensional model of robot work object, the Cartesian coordinates path data of robot work object is converted to joint of robot coordinate pathway data; Finally convert joint of robot coordinate pathway data to corresponding robot motion's path procedure, and export.Terminal in the present embodiment with operating system can for having the computer of human-computer interaction interface, the threedimensional model of robot and frock thereof, the threedimensional model of robot work object can be watched in the three-dimensional virtual environment of computer, and the motion path emulation of robot.
Wherein the present embodiment comprises with the terminal of operating system:
Path code decoding module, for reading the Cartesian coordinates path data of the robot work object in numerical control code file;
Robot coordinate conversion computing module, for according to the threedimensional model of robot kinematics's constraints, robot and frock thereof and the threedimensional model of robot work object, convert the Cartesian coordinates path data of robot work object to joint of robot coordinate pathway data;
Tool coordinates system and the user coordinate system data of robot arrange module: for the station-keeping data according to reality robotic's frock and robot work object, arrange tool coordinates system and the user coordinate system data of robot;
Robot simulation path clustering module, for control in robot three-dimensional virtual environment, carries out robot motion's path simulation according to joint of robot coordinate pathway data;
Whether path dependent options detection module, there is exception for measuring robots motion simulation path;
Robot simulation path security detection module, for the security in measuring robots motion simulation path;
Path editing modified module, for when robot motion's simulation paths occurs that exception or security do not satisfy condition, edits joint of robot coordinate pathway data and revises;
Robot program's post-processing module, for the program instruction form supported according to device people, converts joint of robot coordinate pathway data to corresponding robot motion's path procedure;
And robot motion's path procedure output module, for output device people motion path program.
Wherein as Fig. 3 a to 3c is depicted as robot three-dimensional virtual environment figure when the present embodiment method being applied to the deburring of automobile exhaust pipe.In order to realize automobile exhaust pipe deburring, the present embodiment method is utilized to realize the detailed process of the off-line programing in robot motion path as follows:
(1) the robot kinematics's constraints set by the step S1 of the present embodiment said method, robot and frock model, robot work object and automobile exhaust pipe threedimensional model is obtained.And scan the 3D solid data of automobile exhaust pipe, then get the Cartesian coordinates path data of automobile exhaust pipe by CAD/CAM software platform and generate corresponding numerical control code file.
(2) by the step S3 of the present embodiment said method, the threedimensional model of robot kinematics's constraints, robot and frock thereof, automobile exhaust pipe threedimensional model and numerical control code file are loaded in robot three-dimensional virtual environment; Wherein be loaded into the threedimensional model of robot in three-dimensional virtual environment and frock thereof, automobile exhaust pipe threedimensional model as shown in Figure 3 a.
(3) from numerical control code file, the Cartesian coordinates path data of automobile exhaust pipe is read by the step S4 of the present embodiment said method, and in conjunction with the threedimensional model of robot kinematics's constraints, robot and frock thereof and the threedimensional model of automobile exhaust pipe, convert the Cartesian coordinates path data of automobile exhaust pipe to joint of robot coordinate pathway data;
(4) by the step S5 of the present embodiment said method station-keeping data according to robot frock and robot work object and automobile exhaust pipe, the tool coordinates system of robot and the user coordinate system data of target are set; With the position relationship between clear and definite robot frock and automobile exhaust pipe.
(5) carry out robot motion's path simulation by the step S6 of the present embodiment said method according to joint of robot coordinate pathway data, with in robot three-dimensional virtual environment, make robot realize the deburring of automobile exhaust pipe.Emulate animation by observer robot, whether occur exception by step S7 inspection machine people's motion simulation path; If there is exception, then carry out joint of robot coordinate pathway data by the human-computer interaction interface of three-dimensional virtual environment place terminal and carry out editing and revising, until do not occur abnormal.
(6) security judging robot motion's simulation paths is detected, if security can not meet robot condition of work by the step S8 of the present embodiment said method.Be that, in robot three-dimensional virtual environment, the frock of robot realizes the schematic diagram of automobile exhaust pipe deburring according to joint of robot coordinate pathway data as shown in figures 3 b and 3 c.
(7) when the security in motion simulation path meets, by the program instruction form that the step S9 of the present embodiment said method supports according to robot, convert joint of robot coordinate pathway data to corresponding robot motion's path procedure, then output device people motion path program.
Robot three-dimensional virtual environment figure for the present embodiment method being applied to during the glaze spraying of toilet seat as shown in Figs. 4a and 4b.The threedimensional model of robot kinematics's constraints, robot and frock thereof, toilet seat threedimensional model and numerical control code file is loaded with respectively in three-dimensional virtual environment.Wherein lines track is as shown in figs 4 a and 4b the motion path of robot frock, is obtained by joint of robot coordinate pathway data acquisition in the present embodiment.Its off-line programing implementation method is identical with above-mentioned automobile exhaust pipe deburring programmed method.In glaze spraying process, by realizing the adjustment of machining posture to the editor of joint of robot coordinate pathway data and amendment.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. a robot motion path off-line programing method, it is characterized in that, step is as follows:
S1, setting robot kinematics constraints; Obtain the threedimensional model of robot and frock thereof; Obtain the threedimensional model of robot work object; The 3D solid data of scanning robot work object, to get the Cartesian coordinates path data of robot work object and to generate corresponding numerical control code file;
S2, structure robot three-dimensional virtual environment;
S3, the threedimensional model of the robot of the robot kinematics's constraints set in step S1, acquisition and the threedimensional model of frock thereof, the robot work object of acquisition and numerical control code file are loaded in robot three-dimensional virtual environment;
S4, from numerical control code file the Cartesian coordinates path data of read machine people target, and in conjunction with the threedimensional model of robot kinematics's constraints, robot and frock thereof and the threedimensional model of robot work object, convert the Cartesian coordinates path data of robot work object to joint of robot coordinate pathway data;
S5, in robot three-dimensional virtual environment, according to the station-keeping data of reality robotic's frock and robot work object, tool coordinates system and the user coordinate system data of robot are set;
S6, carry out robot motion's path simulation according to joint of robot coordinate pathway data; Emulate animation by observer robot, whether inspection machine people motion simulation path there is exception;
If so, then step S7 is entered;
If not, then step S8 is entered;
S7, carry out editing and revising for joint of robot coordinate pathway data, then return step S6;
S8, judge if security can not meet robot condition of work, then to return the security of robot motion's simulation paths step S7, otherwise enter step S9;
S9, robot program's post processing, according to the program instruction form that robot supports, convert joint of robot coordinate pathway data to corresponding robot motion's path procedure, then output device people motion path program.
2. robot motion path according to claim 1 off-line programing method, it is characterized in that, the Cartesian coordinates path data of described robot work object is obtained by CAD/CAM software platform, and CAD/CAM software platform is by the Cartesian coordinates path data of the form output device people target of numerical control program.
3. robot motion path according to claim 1 off-line programing method, is characterized in that, in described step S4, to convert the concrete steps of joint of robot coordinate pathway data to as follows for the Cartesian coordinates path data of robot work object:
S4-1, Cartesian coordinates path data calculate the original joint data of acquisition robot through the joint inverse operation of robot kinematics;
Whether S4-2, inspection joint data meet robot kinematics's constraints;
S4-3, joint data are carried out to the optimization process of motion path, process seamlessly transitting of the data in each joint;
S4-4, joint forward operation by robot kinematics, check the correctness of joint data, obtain final joint of robot path data.
4. robot motion path according to claim 1 off-line programing method, it is characterized in that, in robot three-dimensional virtual environment, according to joint of robot coordinate pathway data, robot realizes the control of basic 3D vision of three-dimensional simulation, rotation, convergent-divergent and movement.
5. robot motion path according to claim 1 off-line programing method, it is characterized in that, edited by the mode of man-machine interaction the joint of robot coordinate pathway data in robot three-dimensional virtual environment and revise in described step S7, described joint of robot coordinate pathway data are carried out editing and revise the machining posture data comprised robot and are adjusted.
6. robot motion path according to claim 1 off-line programing method, it is characterized in that, in described step S4, the Cartesian coordinates path data of robot work object is converted to the joint of robot coordinate pathway data of the various free degree and outside offhand work.
7. a robot motion path off-line programing system, is characterized in that, comprising:
Robot kinematics's constraints setting module, for setting robot kinematics's constraints;
Robot work object and robot and frock obtaining three-dimensional model module thereof, for the threedimensional model of the threedimensional model and robot and frock thereof that obtain robot work object;
Scan module, for scanning the 3D solid data of robot work object;
The Cartesian coordinates path data acquisition module of robot work object, for the 3D solid data of robot work object scanned according to scan module, get the Cartesian coordinates path data of robot work object, then generate corresponding numerical control code file;
And with the terminal of operating system, for building robot three-dimensional virtual environment; And in robot three-dimensional virtual environment, import threedimensional model and the numerical control code file of robot kinematics's constraints, the threedimensional model of robot work object, robot and frock thereof; Then in conjunction with the threedimensional model of robot kinematics's constraints, robot and frock thereof and the threedimensional model of robot work object, the Cartesian coordinates path data of robot work object is converted to joint of robot coordinate pathway data; Finally convert joint of robot coordinate pathway data to corresponding robot motion's path procedure, and export.
8. robot motion path according to claim 7 off-line programing system, is characterized in that, the described terminal with operating system comprises:
Path code decoding module, for reading the Cartesian coordinates path data of the robot work object in numerical control code file;
Robot coordinate conversion computing module, for according to the threedimensional model of robot kinematics's constraints, robot and frock thereof and the threedimensional model of robot work object, convert the Cartesian coordinates path data of robot work object to joint of robot coordinate pathway data;
Tool coordinates system and the user coordinate system data of robot arrange module: for the station-keeping data according to reality robotic's frock and robot work object, arrange tool coordinates system and the user coordinate system data of robot;
Robot simulation path clustering module, for control in robot three-dimensional virtual environment, carries out robot motion's path simulation according to joint of robot coordinate pathway data;
Whether path dependent options detection module, there is exception for measuring robots motion simulation path;
Robot simulation path security detection module, for the security in measuring robots motion simulation path;
Path editing modified module, for when robot motion's simulation paths occurs that exception or security do not satisfy condition, edits joint of robot coordinate pathway data and revises;
Robot program's post-processing module, for the program instruction form supported according to device people, converts joint of robot coordinate pathway data to corresponding robot motion's path procedure;
And robot motion's path procedure output module, for output device people motion path program.
9. the robot motion path off-line programing system according to claim 7 or 8, is characterized in that, the described terminal with operating system is computer.
10. the robot motion path off-line programing system according to claim 7 or 8, is characterized in that, the Cartesian coordinates path data acquisition module of described robot work object is the terminal with CAD/CAM software platform; First the 3D solid data of robot work object that scan according to scan module of the CAD/CAM software platform of terminal, get the space path data that robot work object is corresponding; Then according to the Cartesian coordinates path data of space path data genaration robot work object corresponding to robot work object; The CAD/CAM software platform of last terminal passes through the Cartesian coordinates path data of the form output device people target of numerical control program.
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| CN105415375A (en) * | 2016-01-02 | 2016-03-23 | 韩少卿 | Off-line programming device |
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