基于工件模型的工业机器人自动编程系统
|
摘要
针对国内自动编程系统的平台依赖性强、交互性较差、支持的机器人种类受限等问题,提出了一种基于工件模型的高效、灵活、交互性强的自动编程方法.首先,以开源图形库OpenGL和插件机制构建了扩展性强、不受平台限制、便于与实体机器人通讯的开放性平台.其次,采用工件模型的DXF(drawing exchange format)文件自动提取方法解析出作业信息,并为实现任务级作业提供了一种高效的人机交互方式.然后,基于VRML(虚拟现实建模语言)模型实现了不受构型影响的通用6轴关节机器人的逆解.最后,以南京埃斯顿公司的ER16机器人为测试对象进行实验.在自主开发的系统上,实现了不依赖3维CAD(计算机辅助设计)平台的复杂空间曲线(马鞍形曲线)自动编程.该系统支持导入机器人模型进行自动编程,并具有良好的人机交互性.证明了该系统的高效性和实用性.
Domestic auto-programming systems are of poor interaction, since they are strongly dependent on the platform and support limited types of robots. To solve the problem, an efficient method for robot auto-programming based on the workpiece model is proposed. Firstly, an open platform is developed based on the open source graphics library Open GL and the plug-in mechanism, which isn't restricted by the platform type, can be expanded, and is easy to communicate with physical robots. Secondly, an automatic extraction method is used to analyze the job information in DXF(drawing exchange format) files of the workpiece models, which provides an efficient way for human-computer interaction to achieve task-level operations. Then, an inverse kinematics algorithm based on VRML(virtual reality modeling language) model is obtained for the general 6-axis articulated robot, which is not affected by the configuration. Finally, an experiment is carried out on Estun ER16 robot. The auto-programming of complex space curve(saddle curve) is realized in the self-developed system without aid of any 3D CAD(computer aided design) platform. The system supports the robot model importation for autoprogramming, and can achieve excellent human-computer interaction, which demonstrates its efficiency and practicability.
Domestic auto-programming systems are of poor interaction, since they are strongly dependent on the platform and support limited types of robots. To solve the problem, an efficient method for robot auto-programming based on the workpiece model is proposed. Firstly, an open platform is developed based on the open source graphics library Open GL and the plug-in mechanism, which isn't restricted by the platform type, can be expanded, and is easy to communicate with physical robots. Secondly, an automatic extraction method is used to analyze the job information in DXF(drawing exchange format) files of the workpiece models, which provides an efficient way for human-computer interaction to achieve task-level operations. Then, an inverse kinematics algorithm based on VRML(virtual reality modeling language) model is obtained for the general 6-axis articulated robot, which is not affected by the configuration. Finally, an experiment is carried out on Estun ER16 robot. The auto-programming of complex space curve(saddle curve) is realized in the self-developed system without aid of any 3D CAD(computer aided design) platform. The system supports the robot model importation for autoprogramming, and can achieve excellent human-computer interaction, which demonstrates its efficiency and practicability.
引文
[1]曹金学.工业点焊机器人离线编程软件的国产化开发及应用[J].计算机应用与软件,2011,28(12):99-101.Cao J X.Localization development of off-line programming software of spot-welding robot and its application[J].Computer Applications and Soft,2011,28(12):99-101.
[2]Neto P,Mendes N.Direct off-line robot programming via a common CAD package[J].Robotics and Autonomous Systems,2013,61(8):896-910.
[3]魏振红,俞港,付庄,等.基于Rob CAD软件的焊接机器人离线编程[J].机电一体化,2015(3):31-34.Wei Z H,Yu G,Fu Z,et al.Off-line programming of welding robot based on Rob CAD[J].Mechatronics,2015(3):31-34.
[4]王纯祥,程茁,陈杨.基于Robotstudio的弧焊机器人离线编程[J].重庆科技学院学报:自然科学版,2014,16(5):153-156.Wang C X,Chen Z,Chen Y.Off-line programming system for welding robot based on Robotstudio[J].Journal of Chongqing University of Science and Technology:Natural Science Edition,2014,16(5):153-156.
[5]Connolly C.Technology and applications of ABB Robot Studio[J].Industrial Robot,2009,36(6):540-545.
[6]赵燕伟,佘智胜,陈建.基于UG加工信息的汽车轮毂机器人喷漆离线编程[J].制造业自动化,2013,35(11):50-53.Zhao Y W,Yu Z S,Chen J.The off-line programming in robot painting of automobile hub based on UG progress information[J].Manufacturing Automation,2013,35(11):50-53.
[7]刘为志,栾楠,刘宝生.基于G代码的工业机器人的自动编程[J].机器人,2002,24(6):497-501.Liu W Z,Luan N,Liu B S.Auto-programming for industrial robots based on G-code[J].Robot,2002,24(6):497-501.
[8]Chen Z X,Yi J M,Liu J,et al.Off-line programming design of robots based on DXF files[J].Advanced Materials Research,2014,1039:313-319.
[9]龚江峰.如何将DXF文件中含3D矢量的实体坐标转换为世界坐标[J].测绘通报,1998(12):16-18.Gong J F.How to convert the entity coordinates with 3D vector in DXF file into world coordinates[J].Bulletin of Surveying and Mapping,1998(12):16-18.
[10]曾建军,杨汝清.基于Open GL的排爆机器人离线编程系统[J].系统仿真学报,2007,19(23):5506-5508,5542.Zeng J J,Yang R Q.Open GL based off-line programming system of EOD robot[J].Journal of System Simulation,2007,19(23):5506-5508,5542.
[11]孔民秀,季晨.基于单位四元数机器人姿态插补算法[J].新型工业化,2013,3(8):105-112.Kong M X,Ji C.Orientations interpolation algorithm for robot with unit quaternion[J].The Journal of New Industrialization,2013,3(8):105-112.
[12]罗灿威.基于SERCOSⅢ总线的工业机器人控制器运动功能设计[D].南京:东南大学,2015.Luo C W.Motion function design for industrial robot controller with SERCOS III bus[D].Nanjing:Southeast University,2015.
[13]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.He G Z.Robotic arc welding off-line programming system and automatic programming technique[D].Harbin:Harbin Institute of Technology,2006.
[14]张翔,廖文和,俞青,等.基于Open GL的复杂多面体模型间距离计算及碰撞检测[J].东南大学学报:自然科学版,2006,36(2):232-236.Zhang X,Liao W H,Yu Q,et al.Distance computation and collision detection between complex polyhedra using Open GL[J].Journal of Southeast University:Natural Science Edition,2006,36(2):232-236.
[2]Neto P,Mendes N.Direct off-line robot programming via a common CAD package[J].Robotics and Autonomous Systems,2013,61(8):896-910.
[3]魏振红,俞港,付庄,等.基于Rob CAD软件的焊接机器人离线编程[J].机电一体化,2015(3):31-34.Wei Z H,Yu G,Fu Z,et al.Off-line programming of welding robot based on Rob CAD[J].Mechatronics,2015(3):31-34.
[4]王纯祥,程茁,陈杨.基于Robotstudio的弧焊机器人离线编程[J].重庆科技学院学报:自然科学版,2014,16(5):153-156.Wang C X,Chen Z,Chen Y.Off-line programming system for welding robot based on Robotstudio[J].Journal of Chongqing University of Science and Technology:Natural Science Edition,2014,16(5):153-156.
[5]Connolly C.Technology and applications of ABB Robot Studio[J].Industrial Robot,2009,36(6):540-545.
[6]赵燕伟,佘智胜,陈建.基于UG加工信息的汽车轮毂机器人喷漆离线编程[J].制造业自动化,2013,35(11):50-53.Zhao Y W,Yu Z S,Chen J.The off-line programming in robot painting of automobile hub based on UG progress information[J].Manufacturing Automation,2013,35(11):50-53.
[7]刘为志,栾楠,刘宝生.基于G代码的工业机器人的自动编程[J].机器人,2002,24(6):497-501.Liu W Z,Luan N,Liu B S.Auto-programming for industrial robots based on G-code[J].Robot,2002,24(6):497-501.
[8]Chen Z X,Yi J M,Liu J,et al.Off-line programming design of robots based on DXF files[J].Advanced Materials Research,2014,1039:313-319.
[9]龚江峰.如何将DXF文件中含3D矢量的实体坐标转换为世界坐标[J].测绘通报,1998(12):16-18.Gong J F.How to convert the entity coordinates with 3D vector in DXF file into world coordinates[J].Bulletin of Surveying and Mapping,1998(12):16-18.
[10]曾建军,杨汝清.基于Open GL的排爆机器人离线编程系统[J].系统仿真学报,2007,19(23):5506-5508,5542.Zeng J J,Yang R Q.Open GL based off-line programming system of EOD robot[J].Journal of System Simulation,2007,19(23):5506-5508,5542.
[11]孔民秀,季晨.基于单位四元数机器人姿态插补算法[J].新型工业化,2013,3(8):105-112.Kong M X,Ji C.Orientations interpolation algorithm for robot with unit quaternion[J].The Journal of New Industrialization,2013,3(8):105-112.
[12]罗灿威.基于SERCOSⅢ总线的工业机器人控制器运动功能设计[D].南京:东南大学,2015.Luo C W.Motion function design for industrial robot controller with SERCOS III bus[D].Nanjing:Southeast University,2015.
[13]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.He G Z.Robotic arc welding off-line programming system and automatic programming technique[D].Harbin:Harbin Institute of Technology,2006.
[14]张翔,廖文和,俞青,等.基于Open GL的复杂多面体模型间距离计算及碰撞检测[J].东南大学学报:自然科学版,2006,36(2):232-236.Zhang X,Liao W H,Yu Q,et al.Distance computation and collision detection between complex polyhedra using Open GL[J].Journal of Southeast University:Natural Science Edition,2006,36(2):232-236.