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针对国内自动编程系统的平台依赖性强、交互性较差、支持的机器人种类受限等问题,提出了一种基于工件模型的高效、灵活、交互性强的自动编程方法.首先,以开源图形库OpenGL和插件机制构建了扩展性强、不受平台限制、便于与实体机器人通讯的开放性平台.其次,采用工件模型的DXF(drawing exchange format)文件自动提取方法解析出作业信息,并为实现任务级作业提供了一种高效的人机交互方式.然后,基于VRML(虚拟现实建模语言)模型实现了不受构型影响的通用6轴关节机器人的逆解.最后,以南京埃斯顿公司的ER16机器人为测试对象进行实验.在自主开发的系统上,实现了不依赖3维CAD(计算机辅助设计)平台的复杂空间曲线(马鞍形曲线)自动编程.该系统支持导入机器人模型进行自动编程,并具有良好的人机交互性.证明了该系统的高效性和实用性.
Aimed at the problems of platform dependence, poor interaction and limited types of robots supported by automatic programming system in China, an automatic programming method based on workpiece model is proposed.Firstly, Library OpenGL and plug-in mechanism to build an open platform that is extensible, platform-free and easy to communicate with real robots.Secondly, DXF (drawing exchange format) file automatic extraction method of workpiece model is used to parse the job information, Task-level operation provides an efficient way of human-computer interaction.Then, based on the VRML (Virtual Reality Modeling Language) model, an inverse solution of universal 6-axis joint robot without configuration impact is achieved.Finally, The company’s ER16 robot was tested on a test object.Automatic programming of a complex space curve (saddle-shaped curve) independent of a 3-dimensional CAD (Computer Aided Design) platform was realized on a self-developed system.The system supports importing robotic models for automatic Programming, and has good human-computer interaction.It proves the system’s efficiency and practicability.