摘要
提出一种用于对HP6机器人实行离线编程操作的新方法,可按给定轨迹进行运动仿真,并通过调整改善关节承载状况,在不改变既定轨迹和运动位姿条件下生成相应的离线编程程序代码,实现了机器人在结构安全条件下的轨迹规划和离线编程,并给出了应用实例。
A new method of off-line programming on HP6 robot was presented. HP6 robot can simulate on the given trace. Through adjustments to improve joint load and unchanged trace and vipure, the corresponding off-line programming code can be established. So the trace planning and off-line programming was achieved under the structure safe conditions. The example of the application was given.
出处
《机床与液压》
北大核心
2008年第11期154-156,共3页
Machine Tool & Hydraulics
