【摘要】 针对空间复杂曲面难以利用机器人示教方式来实现机器人的路径规划,利用UG加工后置处理的G代码没有体现机器人的空间姿态,人工调整较为烦琐等问题,该文提出一种新算法对UG前置处理的刀位文件进行计算来实现机器人的空间姿态控制,求得对应机器人的末端位姿,经逆运算后以最短路程为优化目标转换为机器人各关节角的变量值,后经Matlab仿真验算,验证了该方法的可行性.更多还原

【Abstract】 Aiming at the problems that it is difficult to realize the path planning of the robot by using the robot teaching method for the space complex surface, the G code processed by UG does not reflect the spatial posture of the robot, and it is cumbersome to adjust the attitude manually, a new algorithm is proposed to calculate the cutter location file of UG pre-processing to realize the control of the spatial position and posture of the robot. The corresponding end position and posture of the robot is obtained. After the inverse operation, the shortest distance is taken as the optimization objective, and the spatial position and posture of the robot is transformed into the variable value of each joint angle of the robot. The feasibility of this method is verified by Matlab simulation.更多还原