摘要
针对工业机器人和CAD/CAM系统的集成问题,提出一种不需要机器语言的机器人集成控制系统。首先,利用3DCAD/CAM系统将期望轨迹数据进行分解,获得三维坐标系上的位置分量和方向分量。然后,通过UDP协议将位置和方向分量传输给机器人,并映射到机器人绝对坐标系中。最后,机器人控制器求解位置矩阵和旋转矩阵,获得x、y、z轴上的位置及其侧倾角、俯仰角和偏转角,从而生成数控代码来控制机器人动作。以三菱工业机器人MELFAF为实验平台,结果表明该系统在不使用机器语言下能够精确控制机器人跟踪期望轨迹,具有较高的有效性和通用性。
For the issue that the integration of industrial robot and CAD/CAM system,an integrated control system which doesn’t need robot language is proposed.Firstly,the 3D CAD/CAM system is used to decompose the expected trajectory data,and the position and direction component in the 3D coordinate system are obtained.Then,the position and the direction component are transmitted to the robot through the UDP protocol and mapped to the robot absolute coordinate system.Finally,the robot controller calculates the position matrix and rotation matrix,so as to obtain the position of x,y,z axis and the inclination angle,pitch angle and yaw angle,thus the NC code is generated to control the robot motion.The MITSUBISHI industrial robot MELFAF is used as the experimental platform,the results show that the system can accurately control the robot tracking desired trajectory without the use of robot language.
作者
卢勇威
黄良永
LU Yong-wei;HUANG Liang-yong(Department of Computer and Electronic Information Engineering,Guangxi Vocational & Technical College,Guangxi Nanning 530227,China;Department of Mathematics and Computer Science,Guangxi Science & Technology Normal University,Guangxi Laibin 546199,China;School of Information Engineering,Wuhan University of Technology,Hubei Wuhan 410082,China)
出处
《机械设计与制造》
北大核心
2019年第6期162-165,共4页
Machinery Design & Manufacture
基金
国家自然科学基金项目(61462008)
广西高校重点实验室项目—非线性控制系统与智能计算
关键词
制造业
工业机器人
CAD/CAM
系统集成
位置和方向分量
轨迹映射
Manufacturing Industry
Industrial Robot
CAD/CAM
System Integration
Location and Direction Component
Trajectory Mapping
