CN105945942A - Robot off line programming system and method - Google Patents

Robot off line programming system and method Download PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
robot
motion
path
track
virtual environment
Prior art date
Application number
CN201610211196.8A
Other languages
Chinese (zh)
Inventor
管贻生
吴鸿敏
邓华健
毕志强
张宏
Original Assignee
广东工业大学
佛山博文机器人自动化科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广东工业大学, 佛山博文机器人自动化科技有限公司 filed Critical 广东工业大学
Priority to CN201610211196.8A priority Critical patent/CN105945942A/en
Publication of CN105945942A publication Critical patent/CN105945942A/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/1605Simulation of manipulator lay-out, design, modelling of manipulator
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00Computer-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

A kind of robot Off-line Programming System and method
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.
CN201610211196.8A 2016-04-05 2016-04-05 Robot off line programming system and method CN105945942A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610211196.8A CN105945942A (en) 2016-04-05 2016-04-05 Robot off line programming system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610211196.8A CN105945942A (en) 2016-04-05 2016-04-05 Robot off line programming system and method

Publications (1)

Publication Number Publication Date
CN105945942A true CN105945942A (en) 2016-09-21

Family

ID=56917441

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610211196.8A CN105945942A (en) 2016-04-05 2016-04-05 Robot off line programming system and method

Country Status (1)

Country Link
CN (1) CN105945942A (en)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106583974A (en) * 2016-12-16 2017-04-26 南京合信智能装备有限公司 Laser quick locating welding system and laser quick locating welding method without programming structural part
CN106914896A (en) * 2017-03-27 2017-07-04 刘程秀 A kind of construction method of robot off-line programming
CN107336235A (en) * 2017-06-20 2017-11-10 天津市青创空间科技企业孵化器有限公司 A kind of robot Off-line Programming System
CN107486858A (en) * 2017-08-08 2017-12-19 浙江工业大学 More mechanical arms collaboration off-line programing method based on RoboDK
CN107610579A (en) * 2017-09-05 2018-01-19 芜湖瑞思机器人有限公司 Industrial robot teaching system and its teaching method based on the control of VR systems
CN107980109A (en) * 2017-01-04 2018-05-01 深圳配天智能技术研究院有限公司 Robot motion's method for planning track and relevant apparatus
CN108010130A (en) * 2017-12-13 2018-05-08 合肥工业大学 A kind of robot manipulation method of Graphics-oriented
CN108762209A (en) * 2018-05-25 2018-11-06 西安电子科技大学 Production Line Configured's analogue system based on mixed reality and method
CN109015654A (en) * 2018-09-04 2018-12-18 沈阳飞机工业(集团)有限公司 A kind of robot hole emulation and off-line programing method comprising automatic carriage
CN110597594A (en) * 2019-09-29 2019-12-20 联想(北京)有限公司 Processing method and device of virtual teaching aid, electronic equipment and teaching aid system
CN110675724A (en) * 2019-11-05 2020-01-10 天津百利机械装备集团有限公司中央研究院 Design method of robot gluing teaching system
CN110929422A (en) * 2019-12-09 2020-03-27 中国人民解放军军事科学院国防科技创新研究院 Robot cluster simulation method and device
CN110919499A (en) * 2019-12-18 2020-03-27 东莞市照亮智能装备科技有限公司 Off-line programming-based golf head manufacturing process
CN111247080A (en) * 2017-10-04 2020-06-05 蒂森克虏伯座椅电梯有限公司 Method for planning a platform lift

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101152717A (en) * 2006-09-28 2008-04-02 首钢莫托曼机器人有限公司 Method for generating robot cutting operation program off-line
US20120127165A1 (en) * 2010-11-19 2012-05-24 Evans Judy A System, method, and apparatus to display three-dimensional robotic workcell data
CN103085072A (en) * 2013-03-11 2013-05-08 南京埃斯顿机器人工程有限公司 Method for achieving industrial robot off-line programming based on three-dimensional modeling software
CN104057448A (en) * 2013-03-19 2014-09-24 株式会社安川电机 Robot system and method for producing to-be-processed material
CN104552298A (en) * 2013-10-17 2015-04-29 株式会社安川电机 Teaching system and teaching method
CN104942808A (en) * 2015-06-29 2015-09-30 广州数控设备有限公司 Robot motion path off-line programming method and system
CN105171745A (en) * 2015-08-31 2015-12-23 上海发那科机器人有限公司 Robot off-line programming system
CN105302959A (en) * 2015-10-30 2016-02-03 福建长江工业有限公司 Offline programming method for six-axis grinding and polishing industrial robot

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101152717A (en) * 2006-09-28 2008-04-02 首钢莫托曼机器人有限公司 Method for generating robot cutting operation program off-line
US20120127165A1 (en) * 2010-11-19 2012-05-24 Evans Judy A System, method, and apparatus to display three-dimensional robotic workcell data
CN103085072A (en) * 2013-03-11 2013-05-08 南京埃斯顿机器人工程有限公司 Method for achieving industrial robot off-line programming based on three-dimensional modeling software
CN104057448A (en) * 2013-03-19 2014-09-24 株式会社安川电机 Robot system and method for producing to-be-processed material
CN104552298A (en) * 2013-10-17 2015-04-29 株式会社安川电机 Teaching system and teaching method
CN104942808A (en) * 2015-06-29 2015-09-30 广州数控设备有限公司 Robot motion path off-line programming method and system
CN105171745A (en) * 2015-08-31 2015-12-23 上海发那科机器人有限公司 Robot off-line programming system
CN105302959A (en) * 2015-10-30 2016-02-03 福建长江工业有限公司 Offline programming method for six-axis grinding and polishing industrial robot

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106583974A (en) * 2016-12-16 2017-04-26 南京合信智能装备有限公司 Laser quick locating welding system and laser quick locating welding method without programming structural part
CN106583974B (en) * 2016-12-16 2018-04-13 南京合信智能装备有限公司 One kind quickly seeks a welding system and welding method without programming structure part laser
CN107980109A (en) * 2017-01-04 2018-05-01 深圳配天智能技术研究院有限公司 Robot motion's method for planning track and relevant apparatus
CN106914896A (en) * 2017-03-27 2017-07-04 刘程秀 A kind of construction method of robot off-line programming
CN107336235A (en) * 2017-06-20 2017-11-10 天津市青创空间科技企业孵化器有限公司 A kind of robot Off-line Programming System
CN107486858A (en) * 2017-08-08 2017-12-19 浙江工业大学 More mechanical arms collaboration off-line programing method based on RoboDK
CN107610579A (en) * 2017-09-05 2018-01-19 芜湖瑞思机器人有限公司 Industrial robot teaching system and its teaching method based on the control of VR systems
CN111247080A (en) * 2017-10-04 2020-06-05 蒂森克虏伯座椅电梯有限公司 Method for planning a platform lift
CN108010130A (en) * 2017-12-13 2018-05-08 合肥工业大学 A kind of robot manipulation method of Graphics-oriented
CN108010130B (en) * 2017-12-13 2021-03-09 合肥工业大学 Robot operation method facing to graphs
CN108762209A (en) * 2018-05-25 2018-11-06 西安电子科技大学 Production Line Configured's analogue system based on mixed reality and method
CN109015654A (en) * 2018-09-04 2018-12-18 沈阳飞机工业(集团)有限公司 A kind of robot hole emulation and off-line programing method comprising automatic carriage
CN110597594A (en) * 2019-09-29 2019-12-20 联想(北京)有限公司 Processing method and device of virtual teaching aid, electronic equipment and teaching aid system
CN110675724A (en) * 2019-11-05 2020-01-10 天津百利机械装备集团有限公司中央研究院 Design method of robot gluing teaching system
CN110929422A (en) * 2019-12-09 2020-03-27 中国人民解放军军事科学院国防科技创新研究院 Robot cluster simulation method and device
CN110919499A (en) * 2019-12-18 2020-03-27 东莞市照亮智能装备科技有限公司 Off-line programming-based golf head manufacturing process

Similar Documents

Publication Publication Date Title
Schluse et al. Experimentable digital twins—Streamlining simulation-based systems engineering for industry 4.0
Wang et al. A comprehensive survey of augmented reality assembly research
US10751879B2 (en) Adapting simulation data to real-world conditions encountered by physical processes
CN104002296B (en) Simulator robot, robot teaching apparatus and robot teaching method
Bolopion et al. A review of haptic feedback teleoperation systems for micromanipulation and microassembly
CN104699122B (en) A kind of robot movement-control system
CN103213125B (en) There is robot teaching's device that 3D shows
Neto et al. Direct off-line robot programming via a common CAD package
León et al. Opengrasp: a toolkit for robot grasping simulation
Burdea Invited review: the synergy between virtual reality and robotics
US20200061821A1 (en) Software Interface for Authoring Robotic Manufacturing Process
US9104197B2 (en) Method and system for off-line programming of multiple interacting robots
US4987527A (en) Perspective display device for displaying and manipulating 2-D or 3-D cursor, 3-D object and associated mark position
DE602006000648T2 (en) Offline teaching device for a robot
CN103302668B (en) Based on control system and the method thereof of the Space teleoperation robot of Kinect
US20150151431A1 (en) Robot simulator, robot teaching device, and robot teaching method
Gibson et al. A comparative study of virtual prototyping and physical prototyping
Rosell et al. The Kautham Project: A teaching and research tool for robot motion planning
Aleotti et al. Robust trajectory learning and approximation for robot programming by demonstration
Kang et al. Three-dimensional simulation and visualization of crane assisted construction erection processes
CN101739865B (en) PLC-based two-dimensional motion demonstration platform for teaching and implementation method thereof
Tching et al. Interactive simulation of CAD models assemblies using virtual constraint guidance
Neto et al. CAD-based off-line robot programming
Akan et al. Intuitive industrial robot programming through incremental multimodal language and augmented reality
US9311608B2 (en) Teaching system and teaching method

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20160921

RJ01 Rejection of invention patent application after publication