基于工件模型的工业机器人自动编程系统

doi:10.13973/j.cnki.robot.2017.0111

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邢继生, 甘亚辉, 戴先中. 基于工件模型的工业机器人自动编程系统[J]. 机器人, 2017, 39(1): 111-118.DOI: 10.13973/j.cnki.robot.2017.0111. XING Jisheng, GAN Yahui, DAI Xianzhong. Auto-Programming System Based on the Workpiece Model for Industrial Robot. ROBOT, 2017, 39(1): 111-118. DOI: 10.13973/j.cnki.robot.2017.0111.

摘要针对国内自动编程系统的平台依赖性强、交互性较差、支持的机器人种类受限等问题，提出了一种基于工件模型的高效、灵活、交互性强的自动编程方法．首先，以开源图形库OpenGL和插件机制构建了扩展性强、不受平台限制、便于与实体机器人通讯的开放性平台．其次，采用工件模型的DXF（drawing exchange format）文件自动提取方法解析出作业信息，并为实现任务级作业提供了一种高效的人机交互方式．然后，基于VRML（虚拟现实建模语言）模型实现了不受构型影响的通用6轴关节机器人的逆解．最后，以南京埃斯顿公司的ER16机器人为测试对象进行实验．在自主开发的系统上，实现了不依赖3维CAD（计算机辅助设计）平台的复杂空间曲线（马鞍形曲线）自动编程．该系统支持导入机器人模型进行自动编程，并具有良好的人机交互性．证明了该系统的高效性和实用性．

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关键词 ：自动编程, OpenGL, DXF文件, 人机交互, 复杂空间曲线, 自动编程, OpenGL, DXF文件, 人机交互方式, 复杂空间曲线

Abstract：Domestic auto-programming systems are of poor interaction, since they are strongly dependent on the platform and support limited types of robots. To solve the problem, an efficient method for robot auto-programming based on the workpiece model is proposed. Firstly, an open platform is developed based on the open source graphics library OpenGL and the plug-in mechanism, which isn't restricted by the platform type, can be expanded, and is easy to communicate with physical robots. Secondly, an automatic extraction method is used to analyze the job information in DXF (drawing exchange format) files of the workpiece models, which provides an efficient way for human-computer interaction to achieve task-level operations. Then, an inverse kinematics algorithm based on VRML (virtual reality modeling language) model is obtained for the general 6-axis articulated robot, which is not affected by the configuration. Finally, an experiment is carried out on Estun ER16 robot. The auto-programming of complex space curve (saddle curve) is realized in the self-developed system without aid of any 3D CAD (computer aided design) platform. The system supports the robot model importation for auto-programming, and can achieve excellent human-computer interaction, which demonstrates its efficiency and practicability.

Key words： auto-programming OpenGL DXF file human-computer interaction complex space curve Auto-programming DXF OpenGL 3D interactive Complex space trajectory

收稿日期: 2016-06-30 录用日期: 2017-01-16

TP242

基金资助:国家自然科学基金（61503076，61175113）；江苏省自然科学基金（BK20150624）；复杂工程系统测量与控制教育部重点实验室开放课题（MCCSE2014B02）

通讯作者: 甘亚辉，ganyahui@yeah.net E-mail: ganyahui@yeah.net

作者简介: 邢继生（1992-），男，硕士生．研究领域：自动编程系统，离线仿真软件．
甘亚辉（1985-），男，讲师．研究领域：智能化焊接机器人应用，多机器人协作，无夹具焊接过程控制，拟人机器人控制．
戴先中（1954-），男，教授，博士生导师．研究领域：机器人控制，电力系统控制，软测量及信号处理．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0111 或 https://robot.sia.cn/CN/Y2017/V39/I1/111

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