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介绍机器人离线编程语言HRL及其开发环境。作为机器人离线编程与仿真系统HOLPSS的主要子系统,HRL实现了对一般4~6自由度机器人的离线编程,形成了基于微机的通用机器人语言。HRL语言系统结合HOLPSS的图形仿真系统,构成完善的离线编程与仿真环境,避免了文本编程与图形编程的弊端。论述HRL语言的数据类型及其操作、控制结构、轨迹规划、示教集成和通用性问题,并给出对PUMA560机器人的编程及结果仿真,仿真结果表明HRL语言系统是机器人程序快速生成的有力工具。 相似文献
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机器人离线编程系统运动误差分析 总被引:1,自引:0,他引:1
在ADAMS平台上对HP6机器人进行虚拟环境下的运动仿真,并通过Matlab建立机器人所识别的脉冲数据与各关节转角数据的关系.通过对ADAMS平台下虚拟机器人与真实机器人的运动精度进行误差分析与补偿,开展对转换误差的定性与定量研究,为优化离线编程系统转换精度提供一定的依据. 相似文献
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S. Mitsi K.-D. Bouzakis G. Mansour D. Sagris G. Maliaris 《The International Journal of Advanced Manufacturing Technology》2005,26(3):262-267
A procedure for the automatic generation of the robot programming used in manufacturing operations is introduced in the present paper. The off-line programming system developed here includes graphical simulation of the robot and its workcell, kinematic model of the robot, motion planning and creation of the NC code for manufacturing process. The proposed system is applied in a robot with five revolute joints for manufacturing operations and in a robot with six revolute joints for welding operations. 相似文献
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介绍了机器人编程技术的现状与发展,提出了一种基于虚拟现实技术的机器人虚拟示教编程系统,以增进机器人编程的可操作性和直观性,从而有利于机器人在实际生产中的应用与推广。 相似文献
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Dr-Ing. Joachim O. Berg 《The International Journal of Advanced Manufacturing Technology》1993,8(1):29-33
The automotive industry uses mainly on-line programming, i.e. teach-in programming, of welding and bonding robots for path planning purposes. This programming method is very time-consuming and expensive, and short-term program modifications cannot be easily performed. Computer-aided simulation of the working program and subsequent off-line programming seems to be one possible solution. Unfortunately, off-line versus on-line programmed paths entail completely different robot perfomances. As robot manufacturers are unable to provide data on the off-line path accuracy of their products, this type of programming is not suited for practical operation. This problem will be discussed on the basis of directive VDI 2861, and for the first time results of off-line and on-line path measurements will be compared. 相似文献
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H. Ding D. S. Li J. X. Chen Y. L. Xiong 《The International Journal of Advanced Manufacturing Technology》1989,4(2):182-191
This paper describes an interactive graphic robot-simulation system that has been developed to carry out optimum design and
to provide a robot-independent off-line motion-planning tool. The system includes model building, optimum design, trajectory
planning and graphic display, and is capable of detecting collisions. Emphasis is given to graphics facilities (translation,
scaling, removal of hidden lines, image animation, etc.). The system is highly interactive through a menu technique. It was
written in Turbo Pascal and implemented on an IBM PC microcomputer. 相似文献
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研发一套新型的铝箔板形离线检测系统,包括机械结构设计、铝箔条元曲线拟合算法推导及控制系统硬件和用户界面的软件设计.通过实验数据分析验证了该系统的检测精度,同时也说明了该铝箔板形离线检测系统的可行性. 相似文献
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宏程序编程与Vericut仿真技术的结合应用 总被引:1,自引:0,他引:1
针对宏程序编程存在人工编程错误的风险,及其在实际生产中使用受到限制的问题,实例演示了平面螺旋线铣槽的宏程序编程,图解说明了宏程序的逻辑计算过程,利用Vericut软件对该宏程序进行了模拟,测试了宏程序参数每一步的计算过程,测量了加工后模型与设计模型的距离。研究结果表明,Vericut可真实地模拟出数控机床上铣加工圆槽的全过程,加工后工件余量符合宏程序中R参数的设定值,宏程序的正确性得到了验证。实验结果说明宏程序编程与Vericut仿真技术相结合,能有效提高数控编程的效率、通用性及安全性。 相似文献
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交互式虚拟设计与同步制造技术算法与图形系统研究 总被引:6,自引:0,他引:6
产品的创意外形设计与快速试制对于更好地满足产品多品种、短开发周期、优美外形、提高市场竞争力等需求具有重要意义,而现有的CAD/CAM和快速原型制造技术在这一方面仍然存在一些不足,这里提出的交互式虚拟设计与同步试制系统利用虚拟现实技术和计算机数字雕刻技术,在交互设计、创意设计、快速试制、材料多样性等方面都有所突破。文章阐述了在设计过程中工作描述、刀具轨迹包络计算、图形布尔运算、以及高速逼真图形显示等关键技术。实际工作设计与制造实验证明所开发的系统技术可行,已经可以进行基本的产品外形设计与同步制造。 相似文献
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基于Web的数控机床动态仿真系统的研究 总被引:2,自引:0,他引:2
为解决机床产品信息发布单一以及客户难以深入了解产品性能等问题,开发了一种基于Web的数字化产品信息展示平台的三维动态仿真系统.该系统充分利用Java语言在网络上的优越性与虚拟现实造型语言技术的交互性,实现了Web环境下产品三维特征、信息的浏览及加工仿真等动态演示.该产品信息发布系统基于web的特性,方便了客户对产品的了解.由于系统能实施数控机床多种动态演示功能,加深了客户对产品性能的全面认识.该方法具有通用性,适合其他产品浏览及动态演示. 相似文献
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西文DOS下监控软件的C语言设计与实现 总被引:2,自引:0,他引:2
分析了实时监控系统软件的特点,提出了西方DOS下微机监控软件中一些关键技术的编程方法和程序实现,包括键盘输入、快速图形操作、过程数据趋势图显示、汉字显示等功能,以上程序实现简单,实现运行效果良好。 相似文献
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Larry J. Kutz PE Ravindran Rajagopalan Kofi Nyamekye 《The International Journal of Advanced Manufacturing Technology》1992,7(2):93-100
Robots in manufacturing are increasingly being called on to do complex tasks that require intelligence beyond merely following
a preprogrammed path. In robotic assembling of mechanisms, welding, machine tending and other tasks, sensing enables robots
to adapt to their environments.
In this research, an ultrasonic collision detection system for an industrial robot was designed, constructed and tested. Two
ultrasonic transducers and ranging modules were mounted on the robot wrist to detect and prevent collisions with objects placed
in the end effector's path. Experiments were conducted to determine objectto-robot distance as a function of robot speed after
the robot had stopped. Two robot motions and two loads were studied. Statistical methods of stopping distance vs. robot speed
are presented and will be useful in planning robot tool paths.
This ultrasonic collision detection system can be used on stationary and mobile robots, automatic-guided vehicles, and other
manufacturing applications. 相似文献