摘要
Motoman-HP20焊接机器人的离线编程软件MoToSimEG进行轨迹规划采用点到点的方式,对于一些复杂曲线,需要非常多的约束点才能达到较高的精度要求,导致编程过程复杂繁琐。针对这一缺点,开发了一套基于MATLAB环境的六自由度关节型焊接机器人仿真平台实现人机交互,并进行了数据通信完成实验验证。验证结果表明:仿真平台不仅可以完成点到点的关节空间和直角坐标空间的轨迹规划,也可以实现任意已知解析式的轨迹规划运动,并得到轨迹数据完成了示教再现,简化了机器人复杂运动轨迹的编程方法,进一步改善了轨迹规划离线编程功能。
The off-line programming software, MoToSim EG of Motoman-HP20 welding robot for plans trajectory with the method of point to point, while for some complex curve, it needs a lot of point constraints to achieve higher accuracy requirement, leading to the complex programming process. Aiming at this shortcoming, a simulation platform set was developed based on MATLAB environment for a six degrees of freedom （6-DOF） welding jointed robot to realize human-machine interaction （HMI）. The experiment data commu- nication verification was completed. Results show that the simulation platform can not only complete the point-to-point trajectory plan- ning in joint space and right angle coordunate space, but also realize trajectory planning of arbitrarily known analytical motion, and get the trajectory data to teach and play, simplifying the complex trajectory of robot programming method, further improving the function of trajectory planning offline programming.
出处
《机床与液压》
北大核心
2017年第19期142-147,共6页
Machine Tool & Hydraulics
