The Research And Implementation Of Robot Off-line Programming System

In recent years, with the declining labor population and the rising labor costs. The labor intensity and bad working environment in spraying, robot has a broad application prospect instead of manual spraying. Robot off-line programming technology plays an important role in the robot application. This paper studied the painting robot off-line programming technology and developed the spraying robot off-line programming software. Using the software, we can Plan the path in the workpiece model generate the code that drive the robot. The software has processing simulation and interference check function.For the practical application demand of off-line programming in robot spraying industry, based on the UG secondary development platform and C++ programming technology, developed the spraying robot off-line programming software. Through the robot kinematics analysis, the kinematics solutions and kinematics inverse solutions were induced. This paper had put forward a kind of linkage algorithm of the robot and positioner. The optimal solution was found by the robot inverse kinematics solution. According to the main expression method of robot control code, Analyzing the transformation between Quaternion、Euler angle and the homogeneous matrix. Through the spraying robot kinematics analysis, planning the motion trajectory on the workpiece that willing be spraying. Transform the processing information into homogeneous matrix. Based on the importance of robot motion simulation and interference check, the robot motion simulation and interference check module was developed in the off-line programming software. The module can verify the code.The off-line programming software based on UG was developed based on the above research, the processing code for HSK-JR608 robot was generated by this system. The software was successful applied to the robot off-line programming spraying,which proved the practical application value of the software.