基于G代码的工业机器人的自动编程

AUTO-PROGRAMMING FOR INDUSTRIAL ROBOTS BASED ON G-CODE

随着自动化程度的提高和 CAD/ CAM技术的发展 ,工业机器人常见的手工示教编程已经不能满足需要 ,利用 CAD/ CAM软件实现机器人自动编程是工业机器人发展的必然趋势 .本文分析了利用通用 G代码实现机器人自动编程的可行性 ,在考虑了数控机床与机器人坐标系统的差异的基础上 ,具体研究了 G代码程序到机器人工作程序的转换算法 ,并从编程的角度 ,对轨迹仿真。

With the development of automation and CAD/CAM technology, teaching programming can't meet the needs of the robotic machining technologies. Auto programming on robots can be realized by G code, which can be easily acquired from almost any kind of CAD/CAM software. This paper clarifies the feasibility of the transformation from G codes to Job instructions of robot systems, analyzes in detail the transforming algorithms between G codes and Job instructions considering the differences between NC machine coordinates and robot coordinates, and discusses track simulation, error testing and dynamic optimization from the view of programming.