工业机器人路径规划及仿真

对于类似笔形的工业机器人执行器,比如吸盘、气爪、焊枪等,在示教编程作业时,经常会出现示教点高度不一致的问题,从而导致工具碰撞、轨迹深浅不一、路径凌乱等问题。但是对于简单任务,若采用离线编程,又浪费时间。在此以机器人写字为例,讨论运用Rel Tool功能,实现通过示教编程,实现书写较标准文字的机器人编程方式。实践证明,此方法能有效避免由于示教点不准造成的工具碰撞等问题。

For pen-like industrial robot actuators,such as suction cups,gas claws,welding torches,etc,the height of teaching points is often inconsistent during teaching and programming operations,which leads to tool collision,different depth of trajectory and disordered path.But for simple tasks,offline programming is a waste of time.Taking the robot writing as an example,this paper discusses how to use RelTool function to realize the robot programming mode of writing more standard words through teaching programming.Practice has proved that this method can effectively avoid tool collision caused by inaccurate teaching points.