摘要
基于AutoCAD和VB设计了MOTOMAN-UP6机器人写字功能。采用VB编写程序实现如下操作:设置文字样式及输入目标文字,利用CAD的扩展工具将目标文字分解成线,接着提取各多线段的顶点坐标,并实现在端点处的提笔和各多线段之间的连接动作,依据各顶点坐标值利用几何关系反求出机器人各关节的运动角度及对应脉冲数,而生成能被相关软件识别的目标文件。利用仿真软件ROTSY建立机器人及其工作环境,仿真证明了该程序的有效性。通过MOTOMAN-UP6机器人实际书写文字实验,进一步验证该设计是切实可行的。
The functional design of writing for MOTOMAN-UP6 robots is carried out based on AutoCAD and Visual Basic in this article.Programming with VB is used to realize those steps as follows：set the text style and input the aim text;explode text by using express tools,then get the coordinates of each point for all polylines;plan the movements of extreme points for polylines,acquire the angles and the corresponding pulse values of robot joints by mathematics;create the required file finally.And the validity of method is proved by building a simulation system in ROTSY.Test by practical writing further proves that the design is feasible.
出处
《机械制造与自动化》
2011年第2期119-121,161,共4页
Machine Building & Automation
