CN105945942A - Robot off line programming system and method - Google Patents
Robot off line programming system and method Download PDFInfo
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- CN105945942A CN105945942A CN201610211196.8A CN201610211196A CN105945942A CN 105945942 A CN105945942 A CN 105945942A CN 201610211196 A CN201610211196 A CN 201610211196A CN 105945942 A CN105945942 A CN 105945942A
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- 238000004088 simulation Methods 0.000 claims abstract description 6
- 239000007787 solids Substances 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 8
- 239000000284 extracts Substances 0.000 claims description 8
- 238000006243 chemical reactions Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 14
- 238000000034 method Methods 0.000 description 4
- 230000000875 corresponding Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000004805 robotic Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 210000000988 Bone and Bones Anatomy 0.000 description 1
- 210000000707 Wrist Anatomy 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000295 complement Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011551 heat transfer agent Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
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- 238000005457 optimization Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000005204 segregation Methods 0.000 description 1
Classifications
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- G—PHYSICS
- G06—COMPUTING; CALCULATING; COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
Abstract
The invention discloses a robot off line programming system and method. The robot off line programming method includes: importing a robot kinematic constraint condition, a three-dimensional model of a working object of a robot, three-dimensional models of the robot and a tooling thereof into a robot three-dimensional virtual environment; performing curve discretization on extracted robot motion path graph primitives and pose information thereof, extracting path points, and generating a robot motion path; performing robot motion simulation and collision detection; modifying the path points according to a given definition on basis of the result of robot motion simulation and collision detection, generating a new robot motion path and pose, and displaying the new robot motion path and pose in an operation system; acquiring a feasibility result and generating a robot executable file; and communicating with the robot, importing the robot executable file into a robot controller, and realizing robot motion control. The robot off line programming system and method can effectively simplify operations, and improve the efficiency of robot programming work.
Description
Technical field
The present invention relates to robot field, more particularly relate to a kind of robot Off-line Programming System and method.
Background technology
At present, motion input and the control mode of industrial robot mainly has three kinds:
One is teaching playback, including " teaching " and " reproduction " two stages.At teaching period, pass through
The desired motion of robot is previewed one time, by the position of some critical path points of robot by certain mode
Store with attitude and memorize;After teaching, in render stage, the robot path point to memory
Carry out interpolation, move to each path point successively.And teaching has three kinds of modes: 1) it is most commonly that employing
Teaching box, i.e. operator are handled teaching box and are sent instruction, and driven machine people is to a series of intended positions.
This teaching mode is usually used in the better simply operation in the path such as robot welding and carrying.2) the second teaching
Mode is pull-alongs, i.e. operator directly grips robot end or by wrist force sensor pull-over gear
Device people is to desired position.Spray robot typically can directly be drawn and be carried out teaching, but most industry
Robot does not has power control due to only motor control, therefore can not directly draw.If but at end
Six-dimension force sensor is installed, carries out motor control based on power heat transfer agent and be likely to realize indirectly dragging, enter
Row teaching.3) the third teaching mode is indirect pull-alongs, by Motion mapping or other auxiliary equipments (bag
Include with controlled machine people have identical configuration, degree of freedom and size teaching equipment), robot is carried out
Pull or guided bone teaching.Operator handles this complementary teaching and equips by expectation orbiting motion, and remembers
Recall its path point, be finally the motion of robot by teaching Motion mapping.Compared to point based on teaching box
Dynamic teaching, pull-alongs teaching uses more convenient, it is easier to reaching complicated pose, adaptability is higher, can
For operations such as sprayings.In a word, the control mode of teaching playback needs operator to be in the action, at the scene
Carrying out, take resource, inefficient, working strength is big, and precision is the highest, and has Personal Risk.Borrow
Cost is also increased when helping ancillary equipment.
The second motion input and control mode are analogous to the robotic programming of numerical control programming, i.e. use machine
The language of device people, works out the operation of robot according to the form of script.This mode is not directly perceived,
Need repeatedly to revise, thus inefficient.
The third motion input and control mode are off-line programings, set up robot emulation system, to machine
People's motion path carries out segregation reasons.This mode off line is carried out, it is not necessary to scene, thus efficiency is higher,
Adaptability and motility are strong.
Chinese invention patent " robot off-line teaching method " (publication number CN102004485A), announces
A kind of method realizing robot off-line programming by computer.The method sets up three-dimensional in a computer
Model, and generated movement locus, the Virtual Demonstration point of this invention by the interpolated point between virtual tool taught point
For setting means, it is necessary to manually set the position at taught point and attitude, it is therefore desirable to when spending substantial amounts of
Between obtain taught point data, the attitude that additionally teaching obtains is naked eyes identifications, the most optimal
Attitude data, in the face of complicated curved surface path planning, as laser welding, spray, the commercial Application such as polishing,
The method is faced with and is eliminated.
Chinese invention patent application " method realizing industrial robot off-line programing based on 3 d modeling software "
(publication number CN103085072A), discloses one and realizes industrial robot based on 3 d modeling software
The method of off-line programing, its method is under 3 d modeling software environment, obtains space line data and three
The space matrix data of dimension module, set up robot motion's track and geometry teaching model, it is achieved virtual machine
The off-line programing of device people's kinetic control system.The realization of the method has the disadvantage that 1) need input sky
The data that half interval contour and robot control, lack the functional realiey track by 3 d modeling software itself certainly
Main drafting, model independently model and the virtual function built of virtual emulation control system, to institute's path planning
There is certain limitation, it is impossible to the feasibility in fast verification path;2) in curved path point is discrete, pass through
The mode of specified quantity point obtains, it is difficult to ensure the precision of curve discrete;3) the attitude shortage of path point is melted
Close the information of entity around;4) pose visualization function and the autonomous debugging functions of path point are lacked;5) lack
The multiformity of weary robot model, does not has real-time communication linkage function, it is achieved the real-time Transmission of data.
Summary of the invention
In order to solve above-mentioned technical problem, the invention provides one can plane-generating motion path automatically
And carry out robot Off-line Programming System and the robot off-line programming method thereof verified.
The robot Off-line Programming System that the present invention provides, including:
For setting the constraints setting module of robot kinematics's constraints;
For obtaining robot work object and robot and frock threedimensional model thereof and robot motion path
Pel and the acquisition module of posture information thereof;
And for building the terminal with operating system of robot three-dimensional virtual environment;And at machine
In people's three-dimensional virtual environment import robot kinematics's constraints, the threedimensional model of robot work object,
Robot and the threedimensional model of frock thereof, to the robot motion path pel extracted and posture information thereof
Carry out curve discretization, extract path point, generate robot motion's track, carry out robot motion afterwards
Emulation and collision detection, according to robot motion's emulation and collision detection result, according to determining of having been given by
Justice-reparation changes path point and is formed in new robot motion's track and attitude operating system display, and obtaining can
Row result also generates robot executable file, with robot communication, is led by robot executable file
Enter robot controller, it is achieved motion planning and robot control.
Preferably, described acquisition module includes the api interface of d solid modeling software, described robot
Three-dimensional virtual environment uses the api interface function of d solid modeling software, it is achieved robot manipulating task system
Three-dimensional modeling.
Preferably, described d solid modeling software includes element figure model, described element figure mould
Type includes straight line, circular arc, Bezier and four kinds of element figures of SPL and associated entity thereof;
From acquisition module, the api interface function of d solid modeling software extracts robot motion path
Pel and posture information thereof, by generating element figure model and automatically selecting generation movement locus, pass through
Coordinate Conversion, is transformed into above-mentioned element figure model and movement locus in robot three-dimensional virtual environment
Carry out follow-up curve discretization again, and extract path point.
Preferably, described posture information is by the cartesian coordinate system set up in the path point of extraction, with three
Discrete with path for having position and attitude displayed on the terminals of the formal intuition of dimension coordinate axle
Point.
Preferably, when carrying out robot motion's emulation and collision detection, by described discrete point and machine
The three-dimensional mould of people's kinematical constraint condition, the threedimensional model of robot work object, robot and frock thereof
Type carries out collision detection in robot three-dimensional virtual environment and obtains robot motion's track and attitude, if touching
Hitting, amendment path point forms new robot motion's track and attitude the most automatically, if not colliding, then retains
Former robot motion's track and attitude are as new robot motion's track and attitude.
Preferably, solve robot forward and reverse motion according to described new robot motion's track and attitude, and
It is converted into target control program and the data of robot, generates robot executable file.
It addition, the present invention also provides for a kind of corresponding robot off-line programming method, step is as follows:
S1, setting robot kinematics's constraints;Obtain robot work object and robot and work thereof
Dress threedimensional model;Obtain robot motion path pel and posture information thereof;
S2, structure robot three-dimensional virtual environment;
S3, the robot kinematics's constraints by setting in step S1, the robot work object of acquisition
It is loaded into robot and frock threedimensional model, the robot motion path pel of acquisition and posture information thereof
Robot three-dimensional virtual environment;
S4, the robot motion path pel extracted and posture information thereof are carried out curve sliding-model control,
Obtain path point, and in robot three-dimensional virtual environment, generate robot motion's track;
S5, carrying out robot motion's emulation and collision detection according to robot motion's track, system is sentenced automatically
Break and whether produce interference;
The most then enter step S6;
If it is not, then enter step S7;
S6, according to be given in advance definition amendment path point regenerate robot motion's track, then return
Return step S5;
S7, show and judge the feasibility of robot motion's track, if infeasible, carry out manual operation and repair
Change, if feasible, generate feasibility result and generate robot executable file;
S8 and robot communication, import robot controller by robot executable file, it is achieved machine
People's motor control.
The robot Off-line Programming System of present invention offer and corresponding robot off-line programming method thereof, logical
Cross and in the operating system of terminal, build robot three-dimensional virtual environment and in robot three-dimensional virtual environment
Middle importing robot kinematics's constraints, the threedimensional model of robot work object, robot and work thereof
The threedimensional model of dress, robot motion path pel and posture information thereof to extracting carry out curve discrete
Change, extract path point, generate robot motion's track, according to the definition amendment path point-shaped having been given by
Become optimum posture and show on an operating system, carrying out robot motion's emulation and collision detection afterwards,
To feasibility result and generate robot executable file, with robot communication, movement code is imported machine
Device people's controller, it is achieved motion planning and robot control.It is capable of robot complicated by the solution of the present invention
The automated programming in curve movement path and emulation detection, and derive robot motion's code and realize whole-process automatic
The motion planning and robot control changed, has advantage simple to operate, that work efficiency is high.
Accompanying drawing explanation
Fig. 1 is the workflow schematic diagram of present system;
Fig. 2 is the structure composition frame chart of present system;
Fig. 3 is the robot three-dimensional virtual environment schematic diagram of present system.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention program is described in further detail, but the present invention
Embodiment is not limited to this.
The invention provides a kind of robot Off-line Programming System, including:
For setting the constraints setting module of robot kinematics's constraints;
For obtaining robot work object and robot and frock threedimensional model thereof and robot motion path
Pel and the acquisition module of posture information thereof;
And for building the terminal with operating system of robot three-dimensional virtual environment;
The specific works flow process of system is to import robot kinematics's constraint in robot three-dimensional virtual environment
Condition, the threedimensional model of robot work object, robot and the threedimensional model of frock thereof, to extracting
Robot motion path pel and posture information carry out curve discretization, extract path point, generate machine
Device people's movement locus, carries out robot motion's emulation and collision detection afterwards, emulates according to robot motion
With collision detection result, it is formed at new robot motion's rail according to the definition amendment path point having been given by
Show in mark and attitude operating system, obtain feasibility result and generate robot executable file, with
Robot communication, imports robot controller by robot executable file, it is achieved motion planning and robot control.
Preferably, described acquisition module includes the api interface of d solid modeling software, described robot
Three-dimensional virtual environment uses the api interface function of d solid modeling software, it is achieved robot manipulating task system
Three-dimensional modeling.Specifically, it is simply that utilize the api interface function of d solid modeling software, it is achieved
The three-dimensional modeling of robot manipulating task system, including robot body, manipulating object, the design of surrounding enviroment
With layout and geometric model graphics process thereof, the definition of working path and amendment, contour of object extracts, real
Existing virtual simulation environment mates with actual working environment.So can directly use existing ripe software
Directly apply mechanically in systems, substantially increase compatibility and the stability of system, it is simple to user safeguards and replaces
Change.
Wherein, preferably, described d solid modeling software includes element figure model, described substantially
Graphical element model includes four kinds of element figures of straight line, circular arc, Bezier and SPL and associates real
Body;From acquisition module, the api interface function of d solid modeling software extracts robot motion path
Pel and posture information thereof, by generating element figure model and automatically selecting generation movement locus, pass through
Coordinate Conversion, is transformed into above-mentioned element figure model and movement locus in robot three-dimensional virtual environment
Carry out follow-up curve discretization again, and extract path point.In this specific embodiment, use relevant pel
Modeling, substantially disclosure satisfy that the generation requirement of most complicated track, is to adopt further, since follow-up
It is simulated emulation and crash tests by the mode of discretization curve, so the configuration requirement to whole system
Being substantially reduced, simultaneously as the simplification of computing, the treatment effeciency of system is greatly improved, and can root
Density is chosen so that it is be adapted to various simulated environment according to what the height of system configuration chose discrete point.
Preferably, described posture information is by the cartesian coordinate system set up in the path point of extraction, with three
Discrete with path for having position and attitude displayed on the terminals of the formal intuition of dimension coordinate axle
Point.Thus achieve the visualization of motion path, and be easy to subsequent operation.
Wherein, preferably, when carrying out robot motion's emulation and collision detection, by described discrete point
With robot kinematics's constraints, the threedimensional model of robot work object, robot and frock thereof
Threedimensional model carries out collision detection in robot three-dimensional virtual environment and obtains robot motion's track and appearance
State, if collision, amendment path point forms new robot motion's track and attitude the most automatically, if not colliding,
Then retain former robot motion's track and attitude as new robot motion's track and attitude.
Wherein, preferably, robot forward and reverse fortune is solved according to described new robot motion's track and attitude
Move, and be converted into target control program and the data of robot, generate robot executable file.
The present invention also provides for a kind of robot off-line programming method of correspondence, and step is as follows:
S1, setting robot kinematics's constraints;Obtain robot work object and robot and work thereof
Dress threedimensional model;Obtain robot motion path pel and posture information thereof;
S2, structure robot three-dimensional virtual environment;
S3, the robot kinematics's constraints by setting in step S1, the robot work object of acquisition
It is loaded into robot and frock threedimensional model, the robot motion path pel of acquisition and posture information thereof
Robot three-dimensional virtual environment;
S4, the robot motion path pel extracted and posture information thereof are carried out curve sliding-model control,
Obtain path point, and in robot three-dimensional virtual environment, generate robot motion's track;
S5, carrying out robot motion's emulation and collision detection according to robot motion's track, system is sentenced automatically
Break and whether produce interference;
The most then enter step S6;
If it is not, then enter step S7;
S6, according to be given in advance definition amendment path point regenerate robot motion's track, then return
Return step S5;
S7, show and judge the feasibility of robot motion's track, if infeasible, carry out manual operation and repair
Change, if feasible, generate feasibility result and generate robot executable file;
S8 and robot communication, import robot controller by robot executable file, it is achieved machine
People's motor control.
It addition, the detailed description of the invention of the method can be real based on three-dimensional solid modeling software SolidWorks
Existing, i.e. d solid modeling software can use SolidWorks, and carrying out practically flow process is as follows:
1. in 3 d modeling software SolidWorks, set up complete robot and part model (can be from outward
Portion imports), definition robot retrains with relative position relation and the robot working space of workpiece;
2. utilize pel abstraction function to select seam track, the definition in the path that fulfils assignment on part model;
3. extracting motion path pel and the information of associated entity, display is in the display area;
4. utilize the posture information of the api function acquisition approach point of SolidWorks, by data modulus of conversion
Block, is transformed into the posture information of path point in robot working space;
5. use robot simulation module, discrete path point information is imported in simulation control subsystem, to appointing
The result of business planning and path planning carries out 3-D graphic motion simulation, simulates the performance of whole operation;
6. the position of each path point needed for using pose adjusting module to revise and attitude, to meet robot
Operation Gesture, makes robot motion's Performance optimization and energy consumption minimum;
7. utilize display function the posture information of each path point to be expressed, intuitive display, it is easy to amendment;
8. utilize postpositive disposal module, correct operation routine is converted into target robot control program and
Data, generate specific robotic executable file, input robot controller, it is achieved the essence to robot
Really control.
Above a kind of robot Off-line Programming System provided by the present invention and method are carried out detailed Jie
Continuing, principle and the embodiment of the present invention are set forth by specific case used herein, above reality
The explanation executing example is only intended to help to understand method and the core concept thereof of the present invention.It should be pointed out that, for
For those skilled in the art, under the premise without departing from the principles of the invention, it is also possible to right
The present invention carries out some improvement and modification, and these improve and modify the protection also falling into the claims in the present invention
In the range of.
Claims (7)
1. a robot Off-line Programming System, it is characterised in that including:
For setting the constraints setting module of robot kinematics's constraints;
For obtaining robot work object and robot and frock threedimensional model thereof and robot motion path
Pel and the acquisition module of posture information thereof;
And for building the terminal with operating system of robot three-dimensional virtual environment;And at machine
In people's three-dimensional virtual environment import robot kinematics's constraints, the threedimensional model of robot work object,
Robot and the threedimensional model of frock thereof, to the robot motion path pel extracted and posture information thereof
Carry out curve discretization, extract path point, generate robot motion's track, carry out robot motion afterwards
Emulation and collision detection, according to robot motion's emulation and collision detection result, according to determining of having been given by
Justice-reparation changes path point and is formed in new robot motion's track and attitude operating system display, and obtaining can
Row result also generates robot executable file, with robot communication, is led by robot executable file
Enter robot controller, it is achieved motion planning and robot control.
2. robot Off-line Programming System as claimed in claim 1, it is characterised in that described acquisition mould
Block includes the api interface of d solid modeling software, and described robot three-dimensional virtual environment uses three-dimensional real
The api interface function of volume modeling software, it is achieved the three-dimensional modeling of robot manipulating task system.
3. robot Off-line Programming System as claimed in claim 2, it is characterised in that
Described d solid modeling software includes that element figure model, described element figure model include directly
Line, circular arc, Bezier and four kinds of element figures of SPL and associated entity thereof;
From acquisition module, the api interface function of d solid modeling software extracts robot motion path
Pel and posture information thereof, by generating element figure model and automatically selecting generation movement locus, pass through
Coordinate Conversion, is transformed into above-mentioned element figure model and movement locus in robot three-dimensional virtual environment
Carry out follow-up curve discretization again, and extract path point.
4. robot Off-line Programming System as claimed in claim 1, it is characterised in that described pose is believed
Cease the cartesian coordinate system set up in the path point by extracting, with the formal intuition of 3-D walls and floor
The discrete point with path with position and attitude it is shown as in terminal.
5. robot Off-line Programming System as claimed in claim 4, it is characterised in that carrying out machine
When people's motion simulation and collision detection, by described discrete point and robot kinematics's constraints, machine
The threedimensional model of the threedimensional model of people's target, robot and frock thereof is in robot three-dimensional virtual environment
In carry out collision detection and obtain robot motion's track and attitude, if collision, the most automatically amendment path point-shaped
Robot motion's track of Cheng Xin and attitude, if not colliding, then retain former robot motion's track and attitude
As new robot motion's track and attitude.
6. robot Off-line Programming System as claimed in claim 5, it is characterised in that according to described newly
Robot motion's track and attitude solve the motion of robot forward and reverse, and be converted into the target control of robot
Program and data, generate robot executable file.
7. a robot off-line programming method, it is characterised in that step is as follows:
S1, setting robot kinematics's constraints;Obtain robot work object and robot and work thereof
Dress threedimensional model;Obtain robot motion path pel and posture information thereof;
S2, structure robot three-dimensional virtual environment;
S3, the robot kinematics's constraints by setting in step S1, the robot work object of acquisition
It is loaded into robot and frock threedimensional model, the robot motion path pel of acquisition and posture information thereof
Robot three-dimensional virtual environment;
S4, the robot motion path pel extracted and posture information thereof are carried out curve sliding-model control,
Obtain path point, and in robot three-dimensional virtual environment, generate robot motion's track;
S5, carrying out robot motion's emulation and collision detection according to robot motion's track, system is sentenced automatically
Break and whether produce interference;
The most then enter step S6;
If it is not, then enter step S7;
S6, according to be given in advance definition amendment path point regenerate robot motion's track, then return
Return step S5;
S7, show and judge the feasibility of robot motion's track, if infeasible, carry out manual operation and repair
Change, if feasible, generate feasibility result and generate robot executable file;
S8 and robot communication, import robot controller by robot executable file, it is achieved machine
People's motor control.
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