机器人图形示教盒编程的研究

本文介绍机器人作业的图形示教盒编程.通过建立机器人的运动学和三维几何模型,采用实时动画技术,在计算机屏幕上对机器人进行图形仿真示教,文中还讨论了图形示教程序的单步执行和实时修正方法,并给出了国产 PJ-lA 机器人进行喷漆作业的图形示教盒编程的实例.结果表明:机器人的图形示教盒编程具有生动、方便的特点,为机器人的编程研究提供了适用的工具.

A STUDY ON ROBOT GRAPHIC TEACH-IN PROGRAMMING

The robot graphic teach-in programming is introduced in this paper.After Setting up the kinematic and ge-ometric models of the robot,the robot motion is teach-inly simulated on computer screen by using real-timeanimation techniques,so that the operator seems to be in the real environment.Besides,the methods of steprunning and real-time modifying the graphic teach-in programs are discussed.As an example,the graphicteach-in technique applied to national made PJ-1A robot for spray painting is given in the end of this paper,which shows that the robot graphic tech-in technique is very efficient,and is a powerful tool for robot pro-gramming.