Design And Implementation Of An Off-line Programming System For The Serial Robot’s Controller

The robot OLP(Offline programming) system is the focus of the current research field. Along with the continuous improvement for flexible and intelligent in industry processing, the task for high quality and complex trajectory gradually become the mainstream mode. OLP has the advantages of high efficiency, low cost and easy to implement, and it can improve programming efficiency, and control the robot work flexibly and intelligently. In this paper, we used MOTOMAN-MA1400 as the research object, which is a series of six joint robot.Firstly, we analyzed the robot’s structure characteristics, and used D-H matrix to establish kinematics model. The process of solving the inverse kinematics of the robot is analyzed. A weighted "shortest path" criterion was proposed, and a kind of weight expression was given. The optimal inverse solution was selected by the shortest path rule and the weighted shortest path rule.Secondly, the overall design of OLP system was carried out, including the requirement analysis, the system structure design and the selection of system development platform.Thirdly, we designed and implemented the 3D simulation system in detail,including the 3D modeling module, the collision detection module based on the SCS(Sphere-Cylinder-Sphere) bounding structure and the trajectory planning module.In the end, according to the robot controller, which can identify the language system, we designed and implemented the management and control module in detail,and used the written program to test, and then debugged the system by the Yaskawa.The OLP system of serial robot has been able to meet the requirements for simple linear and arc motion, which lays a foundation for the precision control in future.