Auto-Programming System Based on the Workpiece Model for Industrial Robot

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.