Research On The Key Technology Of Off-line Programming And Teaching For Industrial Robots Based On LabVIEW

Contact with the development of industrial robots and application requirements,the traditional industrial robot online teaching programming has been unable to meet the production needs of enterprises in the current environment,the off-line programming technology of industrial robots has been widely valued in all walks of life,the industrialization and practicalization of the robot off-line programming technology has gradually become the trend of it's development.Combined with the above background,in order to introduce the robot off-line programming technology from laboratory to actual production,the off-line programming technology of the six axis industrial robots is studied.The main contents are as follows:1.Aiming at the universality of off-line programming system,a six-axis industrial robot is selected as the research object,from the perspective of technology,the overall framework and design design of off-line programming technology are analyzed.the key technologies such as human-machine interface,kinematics,trajectory planning,teaching and robot language are introduced.Based on the principle of motion control,the design scheme of motion control system is established,and the selection of related hardware is completed;2.Kinematics analysis and trajectory planning of the six axis industrial robot used in off-line programming system are carried out,which provides theoretical guarantee for motion control of the whole system.The algebraic expression of the forward and inverse solution of the kinematics equation of robots is derived by using the principle of robot kinematics,on the basis of machine kinematics and the rule of trapezoidal motion,the trajectory planning and analysis of the joint space and cartesian space is analyzed;3.For the functional requirements of the off-line programming system,the software system for off-line programming of robots is developed by using the NI LabVIEW development platform.Construction and introduction of robot model in virtual simulation environment is achieved by using the LabVIEW and SolidWorks engine calling technology;using the LabVIEW control algorithm,the robot kinematics and trajectory planning are integrated into the control system and the algorithm is verified;the LabVIEW function library is used to develop various working modules of the robot off-line programming system,including teaching,calibration,language programming,etc.;4.The experimental of robot is build by six-axis robot of Hiseed HSR6C-3,experimental analysis of off-line programming system is carried out,The results of the experiment are consistent with the simulation results,which meet the work requirements of the robot and verify the rationality and stability of the system.