Robot off line programming system and method

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 [0001] The present invention relates to the field of robots, and in particular to a robot off-line programming system and method. Background technique [0002] At present, there are mainly three types of motion input and control methods for industrial robots: [0003] One is teaching and reproduction, including two stages of "teaching" and "reproduction". In the teaching phase, the expected movement of the robot is previewed in some way, and the positions and attitudes of some key path points of the robot are stored and memorized; Make up, and move to each path point in turn. There are three ways of teaching: 1) The most common is to use the teaching box, that is, the operator manipulates the teaching box to send instructions to drive the robot to a series of expected positions. This teaching method is often used in tasks with relatively simple paths such as robot welding and handling. 2) The second teaching method is dragging, that is, the operator direc...

AI Technical Summary

Problems solved by technology

The implementation of this method has the following deficiencies: 1) It needs to input the data of space curve and robot control, and it lacks the functions of independent trajectory drawing, model independent modeling and virtual construction of virtual simulation control system with the help of the function of 3D modeling software itself. The planning path has certain limitations, and the feasibility of the path cannot be quickly verified; 2) In the discretization of the curve path points, it is difficult to guarantee the accuracy of the curve discretization by specifying the number of points; 3) The attitude of the path points lacks the ability to fuse surrounding entities Information; 4) lack of pose visualization function and path point self-correction function; 5) lack of diversity of robot models, no real-time communication connection function to realize real-time data transmission

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