| 自动磨抛系统中工业机器人示教操作过程分析 |
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| 引用本文： | 林少丹,傅高升,刘克,陈天炎,陈华. 自动磨抛系统中工业机器人示教操作过程分析[J]. 福建建筑高等专科学校学报, 2011, 0(3): 213-217 |
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| 作者姓名： | 林少丹 傅高升 刘克 陈天炎 陈华 |
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| 作者单位： | 福建交通职业技术学院信息工程系,福建福州350007 |
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| 摘 要： | 根据ABB IRB4400机器人结构和D-H运动学模型,分析了ABB六轴工业机器人示教的过程,讨论了机器人示教运动的理论基础,论述了自动磨抛系统的工业机器人运行轨迹与速度、工件坐标与工具坐标等系统参数的设定方法。
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| 关 键 词： | 工业机器人 示教 自动磨抛系统 微动控制 工件坐标 工具坐标 |
Analysis on the demonstration operation process of industrial robots used in automatic grinding and polishing system |
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| Affiliation: | Lin Shaodan, Fu Gaosheng, Liu Ke, Cheng Tianyan, Cheng Hua (Information Engineering Department, Fujian Communications Technology College, Fuzhou 350007, China) |
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| Abstract: | The demonstration process of 6-axis ABB industrial robot was analysed based on the structure of ABB＇s IRB4400 robot and the D-H kinematics model. The theoretical basis of the robot＇s demonstration movement was discussed. The movement path and speed of the industrial robots used in the automatic grinding and polishing system were obtained. The setting method of system parameters for the work-piece coordinate and the tool coordinate were presented. |
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| Keywords: | industrial robot demonstration automatic grinding and polishing system slight movement control work-piece coordinate tool coordinate |
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