工业机器人复杂作业路径编程研究
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摘要
目前工业机器人的作业编程通常是在工作现场对机器人在线示教实现的，其编程质量较低，无法满足复杂作业要求。离线编程技术采用CAD图形建立机器人的作业路径模型，通过相应的算法，在机器人离线的情况下完成作业路径规划。
本文采用VC++开发了基于DXF文件的机器人离线编程平台，通过包含复杂作业路径信息的DXF文件的导入，能够直接生成规划后的机器人作业文件。该平台不仅包含二维连续作业路径的规划功能，还集成了非连续“多对象混合作业路径”规划与面域的“覆盖”处理功能，适用于机器人作业中较为复杂的二维作业任务。
本文在分析了图形交换文件DXF的结构后，针对其中关键的ENTITIES段内容，实现了提取作业路径信息的算法。再将作业路径离散成一系列的特征点，通过图元优化排序算法，将这些特征点重新排序，最终完成二维连续作业路径的规划。在此基础上，本文又对“多对象混合作业路径”展开研究，提出多对象之间“两两衔接”的算法，实现混合作业路径的规划。对于面域的“覆盖”处理研究，本文提出“布点连线”和“缩放偏移”这两种思路，并分析对比了这两者的优劣与适用范围。
本文开发的离线编程平台生成的机器人作业文件，通过ROTSY软件仿真和在UP6机器人上进行实验，均取得了预期的效果。实验证明了本文对机器人复杂作业路径规划的思路，其相关算法对今后处理机器人复杂作业路径的离线编程有一定的参考作用。
The programming of industrial robots is usually on-line teaching in the actual work site andthe programming quality is very low, which can't satisfy the complex working request. Theoff-line programming technology builds the working path model of the robot through CADtechnology and finishes the working path planning in the off-line state of the robot through thecorresponding algorithm.
The paper developments a robot off-line programming platform based on DXF through theVC++. The DXF file which contains complex working path information is imported into theplatform and the robot working file is directly generated. The platform not only includes2dimensional continuous working path planning functions, but also integrates the discontinuousmultiple objects mixed working path planning function and the surface area cover planningfunction, which applies to robot complex assignments.
This paper analyzes the structure of DXF file and realizes the algorithm of extractingworking path information from primary ENTITIES segment of DXF. The complex working pathbreaks down to a series of discrete track points, then the discrete track points will be sorted againin the specified format through an optimization sorting algorithm, and finally the purpose of twodimensional continuous working path planning is finished. On that basis, the research ofmultiple objects mixed working path planning launches again. This paper proposes themultiple objects connection algorithm and realizes the mixed working path planning. To researchof the surface area planning, this paper puts forward two methods: the stationing linkage andthe zoom offset, whose advantages and disadvantages are analyzed and compared.
The working file that the robot off-line programming platform generates is imported intoROTSY software for simulation, and into UP6robot for experimental verification, which obtainsthe expected results. The experiments prove the ideas of the robot complex working pathplanning, and the related algorithms to deal with the complex working path on off-lineprogramming in the future have certain referenced effect.
本文采用VC++开发了基于DXF文件的机器人离线编程平台，通过包含复杂作业路径信息的DXF文件的导入，能够直接生成规划后的机器人作业文件。该平台不仅包含二维连续作业路径的规划功能，还集成了非连续“多对象混合作业路径”规划与面域的“覆盖”处理功能，适用于机器人作业中较为复杂的二维作业任务。
本文在分析了图形交换文件DXF的结构后，针对其中关键的ENTITIES段内容，实现了提取作业路径信息的算法。再将作业路径离散成一系列的特征点，通过图元优化排序算法，将这些特征点重新排序，最终完成二维连续作业路径的规划。在此基础上，本文又对“多对象混合作业路径”展开研究，提出多对象之间“两两衔接”的算法，实现混合作业路径的规划。对于面域的“覆盖”处理研究，本文提出“布点连线”和“缩放偏移”这两种思路，并分析对比了这两者的优劣与适用范围。
本文开发的离线编程平台生成的机器人作业文件，通过ROTSY软件仿真和在UP6机器人上进行实验，均取得了预期的效果。实验证明了本文对机器人复杂作业路径规划的思路，其相关算法对今后处理机器人复杂作业路径的离线编程有一定的参考作用。
The programming of industrial robots is usually on-line teaching in the actual work site andthe programming quality is very low, which can't satisfy the complex working request. Theoff-line programming technology builds the working path model of the robot through CADtechnology and finishes the working path planning in the off-line state of the robot through thecorresponding algorithm.
The paper developments a robot off-line programming platform based on DXF through theVC++. The DXF file which contains complex working path information is imported into theplatform and the robot working file is directly generated. The platform not only includes2dimensional continuous working path planning functions, but also integrates the discontinuousmultiple objects mixed working path planning function and the surface area cover planningfunction, which applies to robot complex assignments.
This paper analyzes the structure of DXF file and realizes the algorithm of extractingworking path information from primary ENTITIES segment of DXF. The complex working pathbreaks down to a series of discrete track points, then the discrete track points will be sorted againin the specified format through an optimization sorting algorithm, and finally the purpose of twodimensional continuous working path planning is finished. On that basis, the research ofmultiple objects mixed working path planning launches again. This paper proposes themultiple objects connection algorithm and realizes the mixed working path planning. To researchof the surface area planning, this paper puts forward two methods: the stationing linkage andthe zoom offset, whose advantages and disadvantages are analyzed and compared.
The working file that the robot off-line programming platform generates is imported intoROTSY software for simulation, and into UP6robot for experimental verification, which obtainsthe expected results. The experiments prove the ideas of the robot complex working pathplanning, and the related algorithms to deal with the complex working path on off-lineprogramming in the future have certain referenced effect.
引文
[1]李烈.我国工业机器人发展现状浅谈[J].科技向导,2011,（5）：56-57.
[2]李宇剑,巣明.我国工业机器人产业现状与发展战略探讨[J].制造业自动化,2010,33(12)：106-107.
[3]潘丽霞.论工业机器人的发展与应用[J].山西:山西科技,2010,25(3)：22-23.
[4]焦恩璋,陈美宏.工业机器人离线编程系统[J].装备制造技术,2009,(10):18-19.
[5]徐呈艺.工业机器人作业路径规划与离线编程研究[D].南京林业大学,2006.
[6]熊有伦.机器人技术基础[M].武汉:华中理工大学出版社,1996
[7]蔡自兴.机器人学[M].北京:清华大学出版社,2000
[8]陈美宏.工业机器人工作站作业仿真及离线编程研究[D],南京林业大学.2010
[9]张卫峰,林端敏.AutoCAD软件的接口技术[J].机械与电子,2004,03:48-51
[10]张成才,孙喜梅.AutoCAD的DXF文件格式及其转换接口研究[J].微型电脑应用,2001,17(8):54-55
[11]曹斌,李光耀.基于DXF文件格式的二维复杂图形数控代码自动生成法[J].机械设计与制造,2003(3):30-32.
[12]兰琳.基于AutoCAD平台的电火花线切割加工的自动编程.华中科技大学硕士论文.2004
[13] YASNAC XRC Instructions(安川公司机器人Motoman UP6资料)
[14] YASNAC XRC Operator's Manual For Arc Welding(安川公司机器人Motoman UP6资料）
[15]马光,申桂英.工业机器人的现状及发展趋势[J].机器人.2002.03:48-51
[16]曾孔庚.MOTOMAN的UP系列机器人功能介绍[J].机器人技术与应用,2001,6:41-42
[17] MOTOMAN. MOTOCOM SDK[Z]. USA: YASKAWA Electric Manufacturing,2002.
[18] W. Hu, M. Schroeder, A. G. Starr. A knowledge-based real-time diagnostic system for PLC controlledmanufacturing systems[A].1999IEEE International Conference on Systems, Man, and Cybernetics[C],Tokyo, Japan: Oct1999,4.499-504.
[19]杜荣.基于机器视觉的工业机器人分拣系统的研究[D].南京林业大学.2009.
[20] Kenneth Taylor,Barney,Dalton.,Internet robots:a new robotics niche [J]. In IEEE Robotics&AutomationMagazine,2000.(3):27-34.
[21] Xavier R S. An autonomous robot on the Web [A] In Proc. of International Conference on IROS,1998
[22] Martin Rohrmeier.Web based robot simulation using VRML [C]. Proceedings of the2000WinterSimulation Conferenc.2007
[23]刘极峰,易际明.机器人技术基础[M].北京：高等教育出版社,2006.5
[24]刘传亮,陆建德.AutoCAD文件格式与二次开发图形软件编程.微机发展,2004,14（9）：102
[25]戴文进.机器人离线编程系统.世界科技研究与发展,2003,4
[26] Ken Goldberg，Steve Gentner，Carl Sutter，etal. The mercury project: a feasibility study for internet robots[J] In IEEE Robotics&Automation Magazine,2000,(3):35-40.
[27]明日科技.Delphi开发技术大全[M].北京:人民邮电出版社,2007.
[28]刘传亮.AutoCAD DXF文件格式与二次开发图形软件编程[J].微机发展,2004(9):101
[29]于杰,王怀明.基于DXF文件的CAD／CAM接口程序开发与应用,制造业自动化,2008,30(7)-79
[30]龚清洪,常智勇,莫蓉.基于DXF文件的图元优化排序.计算机应用,2006,26（1）-170.
[31]孔宇.基于几何模型的弧焊机器人无碰路径规划[D].哈尔滨:哈尔滨工业大学,1998.
[32]焦恩璋.以AutoCAD为平台的机器人运动仿真研究[J].计算机辅助设计与图形学学报,2001.10
[33] K.S.Fu, R.C.Gonzalez, C.S.G.Lee. Robotics: Control, Sensing, Vision, and Intelligence[M]. McGraw-Hill,New York,1987.
[34] D. Manocha, J. F. Canny. Efficient Inverse Kinematics for General6R Manipulators[J]. IEEE Transac-tions on Robotics and Automation,1994,10(5):648-657.
[35]林君.基于三维图形仿真的弧焊机器人离线编程及其技术实现.北京工业大学硕士论文,2003.05
[36]付宜利.基于动态图形仿真的机器人离线编程技术研究与系统开发.哈尔滨工业大学博士论文.1996
[37]胡中华,王艳.弧焊机器人MOTOMA N UP20离线编程系统.电焊机,2008.6,38（6）-34-36
[38]张传剑,李春梅,韩军.MOTOMAN-UP6机器人写字功能设计与实现.电气技术与自动化,2009.06:33-36.
[39]林君,殷树言,陈志翔等.弧焊机器人图形仿真系统的研究[J].制造业自动化,2003,25(3):49-51.
[40]唐新华.Paul Drews.机器人三维可视化离线编程和仿真系统[J].焊接学报,2005,26(2):64-68.
[41]田劲松.机器人弧焊任务级离线编程技术的研究[D].哈尔滨:哈尔滨工业大学,2001.
[42]赵熹华.焊接方法与机电一体化[M].北京:机械工业出版社,2001,7.
[43]刘永.弧焊机器人工作站智能化技术研究[D].南京:南京理工大学,2005.
[44]何广忠.机器人弧焊离线编程系统及其自动编程技术的研究[D].哈尔滨:哈尔滨工业大学,2006.
[2]李宇剑,巣明.我国工业机器人产业现状与发展战略探讨[J].制造业自动化,2010,33(12)：106-107.
[3]潘丽霞.论工业机器人的发展与应用[J].山西:山西科技,2010,25(3)：22-23.
[4]焦恩璋,陈美宏.工业机器人离线编程系统[J].装备制造技术,2009,(10):18-19.
[5]徐呈艺.工业机器人作业路径规划与离线编程研究[D].南京林业大学,2006.
[6]熊有伦.机器人技术基础[M].武汉:华中理工大学出版社,1996
[7]蔡自兴.机器人学[M].北京:清华大学出版社,2000
[8]陈美宏.工业机器人工作站作业仿真及离线编程研究[D],南京林业大学.2010
[9]张卫峰,林端敏.AutoCAD软件的接口技术[J].机械与电子,2004,03:48-51
[10]张成才,孙喜梅.AutoCAD的DXF文件格式及其转换接口研究[J].微型电脑应用,2001,17(8):54-55
[11]曹斌,李光耀.基于DXF文件格式的二维复杂图形数控代码自动生成法[J].机械设计与制造,2003(3):30-32.
[12]兰琳.基于AutoCAD平台的电火花线切割加工的自动编程.华中科技大学硕士论文.2004
[13] YASNAC XRC Instructions(安川公司机器人Motoman UP6资料)
[14] YASNAC XRC Operator's Manual For Arc Welding(安川公司机器人Motoman UP6资料）
[15]马光,申桂英.工业机器人的现状及发展趋势[J].机器人.2002.03:48-51
[16]曾孔庚.MOTOMAN的UP系列机器人功能介绍[J].机器人技术与应用,2001,6:41-42
[17] MOTOMAN. MOTOCOM SDK[Z]. USA: YASKAWA Electric Manufacturing,2002.
[18] W. Hu, M. Schroeder, A. G. Starr. A knowledge-based real-time diagnostic system for PLC controlledmanufacturing systems[A].1999IEEE International Conference on Systems, Man, and Cybernetics[C],Tokyo, Japan: Oct1999,4.499-504.
[19]杜荣.基于机器视觉的工业机器人分拣系统的研究[D].南京林业大学.2009.
[20] Kenneth Taylor,Barney,Dalton.,Internet robots:a new robotics niche [J]. In IEEE Robotics&AutomationMagazine,2000.(3):27-34.
[21] Xavier R S. An autonomous robot on the Web [A] In Proc. of International Conference on IROS,1998
[22] Martin Rohrmeier.Web based robot simulation using VRML [C]. Proceedings of the2000WinterSimulation Conferenc.2007
[23]刘极峰,易际明.机器人技术基础[M].北京：高等教育出版社,2006.5
[24]刘传亮,陆建德.AutoCAD文件格式与二次开发图形软件编程.微机发展,2004,14（9）：102
[25]戴文进.机器人离线编程系统.世界科技研究与发展,2003,4
[26] Ken Goldberg，Steve Gentner，Carl Sutter，etal. The mercury project: a feasibility study for internet robots[J] In IEEE Robotics&Automation Magazine,2000,(3):35-40.
[27]明日科技.Delphi开发技术大全[M].北京:人民邮电出版社,2007.
[28]刘传亮.AutoCAD DXF文件格式与二次开发图形软件编程[J].微机发展,2004(9):101
[29]于杰,王怀明.基于DXF文件的CAD／CAM接口程序开发与应用,制造业自动化,2008,30(7)-79
[30]龚清洪,常智勇,莫蓉.基于DXF文件的图元优化排序.计算机应用,2006,26（1）-170.
[31]孔宇.基于几何模型的弧焊机器人无碰路径规划[D].哈尔滨:哈尔滨工业大学,1998.
[32]焦恩璋.以AutoCAD为平台的机器人运动仿真研究[J].计算机辅助设计与图形学学报,2001.10
[33] K.S.Fu, R.C.Gonzalez, C.S.G.Lee. Robotics: Control, Sensing, Vision, and Intelligence[M]. McGraw-Hill,New York,1987.
[34] D. Manocha, J. F. Canny. Efficient Inverse Kinematics for General6R Manipulators[J]. IEEE Transac-tions on Robotics and Automation,1994,10(5):648-657.
[35]林君.基于三维图形仿真的弧焊机器人离线编程及其技术实现.北京工业大学硕士论文,2003.05
[36]付宜利.基于动态图形仿真的机器人离线编程技术研究与系统开发.哈尔滨工业大学博士论文.1996
[37]胡中华,王艳.弧焊机器人MOTOMA N UP20离线编程系统.电焊机,2008.6,38（6）-34-36
[38]张传剑,李春梅,韩军.MOTOMAN-UP6机器人写字功能设计与实现.电气技术与自动化,2009.06:33-36.
[39]林君,殷树言,陈志翔等.弧焊机器人图形仿真系统的研究[J].制造业自动化,2003,25(3):49-51.
[40]唐新华.Paul Drews.机器人三维可视化离线编程和仿真系统[J].焊接学报,2005,26(2):64-68.
[41]田劲松.机器人弧焊任务级离线编程技术的研究[D].哈尔滨:哈尔滨工业大学,2001.
[42]赵熹华.焊接方法与机电一体化[M].北京:机械工业出版社,2001,7.
[43]刘永.弧焊机器人工作站智能化技术研究[D].南京:南京理工大学,2005.
[44]何广忠.机器人弧焊离线编程系统及其自动编程技术的研究[D].哈尔滨:哈尔滨工业大学,2006.