电焊机2018，Vol.48Issue(1)：35-40,6.DOI:10.7512/j.issn.1001-2303.2018.01.09
移动悬挂箱体喷涂机器人编程技术研究
Research on robot programming technology of the spraying movable hanging boxes
张昆 1张洪涛 1曾孔庚1
作者信息
- 1. 安川首钢机器人有限公司技术中心,北京100176
- 折叠
摘要
Abstract
This paper introduces an automatic offline programming software for industrial robot which is used in the spraying system for movable hanging box,explains the structure,the core principle and realized function of the software,emphatically introduces the singularity problems in robot trajectory planning and solutions,and according to the actual spraying effect,related suggestions and prospects are proposed.This automatic off-line programming technology,not only can be used for robot trajectory planning,the development of a computer software that can automatically generate robot operation program,can also verify the rationality of the spraying process by using the simulation software,and then modify the program structure to achieve optimization,effectively avoids the singularity problem of robot motion.The use of software can avoid the manual operation of robot and graphic operation in off-line programming,and minimize human intervention.It has high value of popularization and application.关键词
工业机器人/奇点/轨迹规划/离线编程Key words
industrial robot/singularity/trajectory planning/offline programming分类
矿业与冶金引用本文复制引用
张昆,张洪涛,曾孔庚..移动悬挂箱体喷涂机器人编程技术研究[J].电焊机,2018,48(1):35-40,6.
