摘要
根据喷漆机器人自身特点和喷漆工艺要求,提出基于轨迹编程的虚拟示教编程方法,探讨轨迹规划过程中所涉及到的空间六自由度的直线和圆弧插补以及插补点法矢算法,该技术解决了机器人喷枪的轨迹规划以及喷枪与插补点的位置关系,增进了机器人虚拟示教编程的可操作性和直观性,从而有利于喷漆机器人在实际生产中的应用与推广。
According to the painting robot＇s characteristics and the technological requirements of painting, proposes the methods about programming based on the virtual teaching track, and probes a design procedure about dimensional line and arc interpolation referred in the process of trajectory layout, also the interpolation-point＇s normal is calculated. This technology solves the trajectory plan of robot＇s spray gun and the position relationship between spray gun and interpolation points, and enhances the maneuverability and intuitive property of robot programming. Thus,this technology is benefit for the application and promotion of painting robot in practical production.
出处
《现代制造工程》
CSCD
北大核心
2009年第10期11-16,共6页
Modern Manufacturing Engineering
基金
国家自然科学基金项目(50765001)
广西教育厅科研基金项目(200708MS028)
广西科技创新能力与条件建设项目(桂科能0842006)
广西科技厅科技创新能力基金项目(桂科能0815011-6-6)
关键词
喷漆机器人
在线示教编程
离线编程
虚拟示教
painting robot
on-line programming by demonstration
off-line programming
virtual demonstration
