摘要
以MOTOMAN-UP20弧焊机器人为研究对象,建立了基于ROTSY的弧焊机器人虚拟示教编程系统。介绍了该系统的组成和虚拟示教编程的详细过程。采用客户/服务器通信模式,通过以太网实现了弧焊机器人的远程控制。对马鞍形焊缝轨迹进行动态仿真,结果表明该系统是可行的,通过虚拟示教功能可以实现焊缝路径的规划和机器人程序的自动生成。
Based on MOTOMAN-UP20 arc welding robot,a virtual teaching programming system of robot with ROTSY was established. The system composition and the detail procedure of virtual teaching programming were described.Using client/server communication mode,robot remote control was achieved through Ethernet.Through saddle-shape weld simulation experiment, the results show that the system is feasible ,and it can plan the welding paths and build the robot program automatically with the virtual teaching function.
出处
《电焊机》
2008年第6期31-33,共3页
Electric Welding Machine
基金
航空科学基金资助项目(02H56007)
关键词
孤焊机器人
虚拟示教
离线编程
路径规划
are welding robot
virtual teaching
off-line programming
path planning
