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对机器人离线编程的实用化技术进行了研究,针对在弧焊机器人上应用离线编程遇到的如离线系统中的工具坐标系误差大、离线编程所得路径相对于期望路径有偏移等问题,采用机器人在线示教的方式,通过7点法对机器人工具坐标系进行了标定,然后用标定结果修正了离线系统中的工具坐标系.采用最小二乘拟合法,对离线编程所得的路径进行了修正,大大缩小了其与实际期望路径之间的偏差.最后通过试验验证,表明这些方法可以满足焊接典型路径的生产需要.
The robot off-line programming of the practical technology were studied. In order to solve the problem that the offline coordinate system of the offline system such as off-line system encountered in the application of the arc welding robot, the deviation of the path from the offline programming relative to the expected path, The method of on-line robot teaching was used to calibrate the robot tool coordinate system by 7-point method, and then the tool coordinate system in the offline system was calibrated with the calibration result. The least squares fitting method was used to correct the offline programming path , Which greatly reduces the deviation from the actual expected path.Finally, the experimental verification shows that these methods can meet the production needs of the typical path of welding.