An optimized path planning method for off-line programming of an industrial robot
Aimed at satisfying the demand of complex path programming for industrial robot, a computer-aided programming system based on DXF file is developed. By analyzing storage information of the graphic elements in DXF file, we develop a method to extract lines, arcs and circles, and then come up with a connect algorithm, which rearranges and connects the original isolated graphic elements in drawing order to some continuous paths. Guaranteeing assigned working paths, this system can not only raise working efficiency by reducing spare travels, but also avoid position error in one continuous path between graphic elements caused by relocation. The paths after rearrangement can be converted into robots working file directly, hence increasing the programming efficiency. The results of both simulation and field experiment prove the systems feasibility in cutting, gelatinizing, arc welding, grinding and etc.
off-line Program Path PIanning Industrial Robot
Xianlun WANG Dongsheng LIU Yiwei Tao Yuxia CUI
College of Electromechanical Engineering Qingdao University of Science and Technology Qingdao, China
国际会议
杭州
英文
57-60
2012-03-23（万方平台首次上网日期，不代表论文的发表时间）