Design And Implementation Of An Off-line Programming System For Industrial Robot

With the introduction of the "Industry 4.0" concept and the "China manufacturing 2025",China’s industrial manufacturing industry has entered a new period of development.As a representative of the intelligent manufacturing field,industrial robots have been widely used due to their high degree of automation.The most common programming method for industrial robots is online teaching programming.However,as the industrial manufacturing environment is becoming more and more complex and the accuracy required for processing operations is getting higher and higher,the method of online teaching and programming of robots can no longer meet the requirements of most applications in modern manufacturing due to the cumbersome process and low accuracy.In order to overcome the limitations of online teaching programming,the off-line programming technology of industrial robots has been greatly developed as a new research direction of robots.At present,many robot companies and related research institutions at home and abroad have developed their own dedicated off-line programming software for robots.However,these off-line programming software are generally expensive,with poor openness and versatility,and are not convenient for secondary development.In view of this,this paper takes a new type of six-degree-of-freedom SCARA industrial robot as the research object,and develops a set of off-line programming system for industrial robots that is simple to operate,comprehensive in functions,and capable of secondary development.In the Lab VIEW development environment,based on the idea of modularization,the development of the kinematics module,trajectory planning module,virtual simulation environment module,off-line program programming module,external communication module and graphical user interface module in the system has been completed.This article first analyzes the kinematics theory of the robot,establishes the kinematics model of the SCARA robot with six degrees of freedom,and derives the forward and inverse kinematics equations respectively to provide an algorithm basis for the development of the kinematics module.Secondly,for the development of the trajectory planning module,several trajectory planning methods commonly used in industrial robots are analyzed.The advantages and disadvantages of various trajectory planning algorithms are compared through simulation,and the optimal trajectory planning method is selected to ensure the stable operation of the robot.Then the virtual simulation environment module is developed,and the platform-independent virtual reality modeling language(VRML)and related three-dimensional modeling software are used to build the virtual simulation environment.Then develop the off-line program programming module to realize the off-line teaching and program programming functions of the system;standardize a set of basic robot instruction system,and develop the corresponding language interpreter.Finally,an external communication module and a graphical user interface module are developed to complete the import function of off-line programs and the interface display of the overall system functions.At the end of this paper,the function and stability of the developed robot off-line programming system are tested.It is used to program the off-line program of industrial robots and combined with physical robots for experimental verification.The experimental results verify that the functional modules in the industrial robot off-line programming system developed in this paper are well connected,with comprehensive functions and high reliability.