CN105945946A - Six-axis mechanical arm movement control method based on G code programming - Google Patents
Six-axis mechanical arm movement control method based on G code programming Download PDFInfo
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- CN105945946A CN105945946A CN201610340368.1A CN201610340368A CN105945946A CN 105945946 A CN105945946 A CN 105945946A CN 201610340368 A CN201610340368 A CN 201610340368A CN 105945946 A CN105945946 A CN 105945946A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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Abstract
The invention relates to a six-axis mechanical arm operation method, and particularly relates to a six-axis mechanical arm movement control method based on G code programming, which uses G codes as transit to realize the automatic programming of six-axis mechanical arm movement. The six-axis mechanical arm movement control method based on G code programming comprises the following steps of: (1) constructing a visual model of a six-axis mechanical arm in a 3D (three dimensional) environment; (2) establishing the simulation virtual movement of the six-axis mechanical arm in a matlab simulation control platform; (3) generating G codes according to a path trajectory after drawing with Auto CAD/MasterCAM; (4) planning a movement path by using the generated G codes in combination with the movement characteristics of the six-axis mechanical arm; (5) generating instruction codes according to the movement planning programming of the six-axis mechanical arm, and then carrying out interactive analog simulation movement; (6) overcoming interference problems through interference experiments; and (7) causing the six-axis mechanical arm to complete automatic machining operation in a practical environment. The six-axis mechanical arm movement control method based on G code programming is high in accuracy of machining movement and effectively overcomes or prevents interference problems possibly happening during automatic control.
Description
Technical field
The present invention relates to the operational approach of a kind of six axis robot, a kind of utilize G code to realize a kind of based on G code programming the six axis robot motion control method of six axis robot motion automated programming as transfer.
Background technology
Programming technique field at industrial robot, the application being controlled industrial robot by programming technique and the performance of application efficiency thereof play the most important effect, but the most traditional programming technique has been the bottleneck problem of industrial robot application, because the online programming now commonly used includes that teaching programs, sensor aided programming etc., this programming Control flexibility is poor, efficiency is low, in particular with processing manufacturing industry digitized, with no paper development trend, often require that and be processed in the case of providing only electronic drawing, do not have material object or model just cannot be realized by teaching, therefore based on
The graphic interaction off-line programing of CAD/CAM system just becomes a trend of industrial robot development, existing off-line programming software is to be realized by CAD/CAM system mostly, such as most common Digit Control Machine Tool, but only rely on when being controlled by off-line programing, it is only used for the part of simplified processing, and the parameter inaccuracy that processing produces.
Summary of the invention
For solve the problems referred to above, it is contemplated that disclose the operational approach of a kind of six axis robot, a kind of utilize G code as transfer realize six axis robot motion automated programming a kind of based on G code program six axis robot motion control method.
For achieving the above object, the technical solution used in the present invention is: a kind of six axis robot motion control method based on G code programming, wherein, six axis robot is provided with six-freedom degree motion, constitute some joint portions and refer to joint portion with end, it is characterized in that, described operational approach comprises the following steps:
1) six axis robot Visualization Model under 3D environment is built, taking a limit bottom six axis robot modeler model is the benchmark initial point in cartesian space coordinate system, independent datum level is inserted the most respectively with the power initial surface of six-freedom degree motion, it is respectively M1, M2, M3, M4, M5, M6 from the datum level begun to end, subsequently under labelling static state, the power connection joint of six axis robot performs to refer to the original coordinates of joint with end, and it is recorded as coordinate manifold, the most progressively read the geological information of entirety；
2) in Simulation Control Platform, create simulation virtual 3D environment during six axis robot working motion, import six axis robot Visualization Model, create the path of motion during six axis robot working motion to set up simulation virtual motion, respective motion path, movement time and movement load during the operating of record six-freedom degree motion simultaneously, to analyze the mechanical property pose amplitude, movement velocity and the load-bearing capacity with test six axis robot motion of six axis robot motion；
3) according to step 2) motion of the simulation virtual that creates, the three-dimensional path locus produced when drawing six axis robot fantasy sport by Auto CAD software, then use Master CAM software to follow path locus to generate G code；
4) G code utilizing step 3) to generate combines the respective movement characteristic of six-freedom degree motion of six axis robot, individually extract motion path and the movement time of also six motions of optimization planning, respectively on the basis of six datum levels, the coordinate manifold change contrast original coordinates manifold that the motion path of six motions is produced, and be converted to movement instruction according to number of coordinates collection changing process, combine changes in coordinates according to time-consuming process to draw speed by kinematics solution thus be converted to speed command, last integration schedules G code instructs with the execution of optimization planning thus programs the instruction code that when generating the motion of six-freedom degree motion, path is combined with speed；The movement instruction that number of coordinates collection changing process therein produces also includes movement instruction and the movement instruction of automatic sensing control that fixed point location controls；
5) the motion planning order saved to finger from joint according to six axis robot, programming generates the instruction code that each degree of freedom motion is coherent, then in Simulation Control Platform, input generate instruction code and control six axis robot according to instruction code output analog simulation motion, detect simultaneously according to instruction code realize motion path the most consistent with the motion path being originally created；
6) carry out interfering test: described six axis robot connect the drive end between joint set induction module, identification module, analyze module, Distance-sensing module, evade module, fixed point module, and end refer to that joint portion is set with pressure transducer；Then in Simulation Control Platform, structure sets the barrier about six axis robot near the simulation virtual scene interfered, overburden is interfered, position error is interfered；In interfering test, realize INTELLIGENT IDENTIFICATION control by each unit module of six axis robot, when drive end senses exotic according to automatic program identification be whether barrier and suitably displacement is evaded or positions ready；When the problem of bigger error occurs when drive end is in detection and location, by again correcting erroneous path at control end so that it is fixed point puts in place and recovers former process path again；When pressure transducer recognizes the stress overburden of motion carrying, control end and readjust motion pressure-bearing；Interference problem is overcome with this；
7) storing step 1)-6) generate complete execution instruction code and Intelligence Feedback control program, hypostazation six axis robot, by instruction code and Intelligent Recognition ability, completes automatically to process and transport operation in actual processing environment towards processed products.
A kind of six axis robot motion control method based on G code programming, wherein, six axis robot is provided with six-freedom degree motion, constitutes some joint portions and refers to joint portion with end, it is characterised in that described operational approach comprises the following steps:
1) six axis robot Visualization Model under 3D environment is built, taking a limit bottom six axis robot modeler model is the benchmark initial point in cartesian space coordinate system, independent datum level is inserted the most respectively with the power initial surface of six-freedom degree motion, it is respectively M1, M2, M3, M4, M5, M6 from the datum level begun to end, subsequently under labelling static state, the power connection joint of six axis robot performs to refer to the original coordinates of joint with end, and it is recorded as coordinate manifold, the most progressively read the geological information of entirety；
2) in Simulation Control Platform, create simulation virtual 3D environment during six axis robot working motion, import six axis robot Visualization Model, create the path of motion during six axis robot working motion to set up simulation virtual motion, respective motion path, movement time and movement load during the operating of record six-freedom degree motion simultaneously, to analyze the mechanical property pose amplitude, movement velocity and the load-bearing capacity with test six axis robot motion of six axis robot motion；
3) according to step 2) motion of the simulation virtual that creates, the three-dimensional path locus produced when drawing six axis robot fantasy sport by Auto CAD software, then use Master CAM software to follow path locus to generate G code；
4) G code utilizing step 3) to generate combines the respective movement characteristic of six-freedom degree motion of six axis robot, individually extract motion path and the movement time of also six motions of optimization planning, respectively on the basis of six datum levels, the coordinate manifold change contrast original coordinates manifold that the motion path of six motions is produced, and be converted to movement instruction according to number of coordinates collection changing process, combine changes in coordinates according to time-consuming process to draw speed by kinematics solution thus be converted to speed command, last integration schedules G code instructs with the execution of optimization planning thus programs the instruction code that when generating the motion of six-freedom degree motion, path is combined with speed；The movement instruction that number of coordinates collection changing process therein produces also includes movement instruction and the movement instruction of automatic sensing control that fixed point location controls；
5) the motion planning order saved to finger from joint according to six axis robot, programming generates the instruction code that each degree of freedom motion is coherent, then in Simulation Control Platform, input generate instruction code and control six axis robot according to instruction code output analog simulation motion, detect simultaneously according to instruction code realize motion path the most consistent with the motion path being originally created；
6) six axis robot connect between joint drive end set memory typing module, analyze module and memory output module, and end refers to that joint portion is set with pressure transducer；In actual environment, hypostazation six axis robot is used to implant instruction code and carry out test operation, and according to operational deficiencies, motion path is optimized in operation, operated by memory typing module storage test, and carry out com-parison and analysis, until improve motion path be speed optimization, program simplify most, disturb minimumization after determine final path, control end and to the movement locus of six axis robot and perform instruction and carry out storing memory；
7) hypostazation six axis robot follows the operation that the motor memory of storage is processed the most towards processed products and transports on the same station of transmission streamline.
In described step 4), the movement characteristic of six axis robot mainly includes that horizontal rectilinear motion, vertical linear motion, gradient linear motion, plane are moved along de-rotation, move along reverse rotation in space, G code linear interpolation, circular interpolation or joint interpolation can be passed through, and the mutually conversion of three is to realize.
Communicate through agreement real-time transmission data between described Simulation Control Platform, six axis robot and control end, complete process operation motion with emulation or the actual six axis robot that controls.
Described six axis robot combines monitoring by execution prior-warning device and posture information receiver module during process operation in actual environment; by performing prior-warning device, even if reflection execution route is abnormal in advance or performs overfatigue, collects geological information real-time monitoring moving process by posture information receiver module.
The modeler model of the six axis robot of described Simulation Control Platform and the ratio of entity device are 1:1, and the speed of fantasy sport is corresponding with the speed of actual motion.
The coordinate manifold change that the motion path of described six-freedom degree motion produces forms multiple coordinate vectors, is converted to combine, by original coordinates, coordinate vector, movement locus, the movement instruction formed when changing.
When the movement instruction using fixed point location to control, coordinate figure is quantitative values, and when using the movement instruction of automatic sensing control, coordinate figure is variate-value.
Beneficial effects of the present invention is embodied in: the present invention is on the basis of machining path Track Pick-up G code, the automated programming program of six axis robot mass motion is completed based on G code, and combine real-time simulation and control Optimal improvements in addition, the precision making processing is higher, and effectively overcome or prevent contingent interference problem when automatically controlling, programming uses multiple control modes simultaneously, to realize the working method of various ways.
Detailed description of the invention
Detailed description of the invention the following detailed description of the present invention:
A kind of six axis robot motion control method based on G code programming, wherein, six axis robot is provided with six-freedom degree motion, constitutes some joint portions and refers to joint portion with end, it is characterised in that described operational approach comprises the following steps:
1) six axis robot Visualization Model under 3D environment is built, taking a limit bottom six axis robot modeler model is the benchmark initial point in cartesian space coordinate system, independent datum level is inserted the most respectively with the power initial surface of six-freedom degree motion, it is respectively M1, M2, M3, M4, M5, M6 from the datum level begun to end, subsequently under labelling static state, the power connection joint of six axis robot performs to refer to the original coordinates of joint with end, and it is recorded as coordinate manifold, the most progressively read the geological information of entirety；
2) in Simulation Control Platform, create simulation virtual 3D environment during six axis robot working motion, import six axis robot Visualization Model, create the path of motion during six axis robot working motion to set up simulation virtual motion, respective motion path, movement time and movement load during the operating of record six-freedom degree motion simultaneously, to analyze the mechanical property pose amplitude, movement velocity and the load-bearing capacity with test six axis robot motion of six axis robot motion；
3) according to step 2) motion of the simulation virtual that creates, the three-dimensional path locus produced when drawing six axis robot fantasy sport by Auto CAD software, then use Master CAM software to follow path locus to generate G code；
4) G code utilizing step 3) to generate combines the respective movement characteristic of six-freedom degree motion of six axis robot, individually extract motion path and the movement time of also six motions of optimization planning, respectively on the basis of six datum levels, the coordinate manifold change contrast original coordinates manifold that the motion path of six motions is produced, and be converted to movement instruction according to number of coordinates collection changing process, combine changes in coordinates according to time-consuming process to draw speed by kinematics solution thus be converted to speed command, last integration schedules G code instructs with the execution of optimization planning thus programs the instruction code that when generating the motion of six-freedom degree motion, path is combined with speed；The movement instruction that number of coordinates collection changing process therein produces also includes movement instruction and the movement instruction of automatic sensing control that fixed point location controls；When the movement instruction using fixed point location to control, coordinate figure is quantitative values, and when using the movement instruction of automatic sensing control, coordinate figure is variate-value；
5) the motion planning order saved to finger from joint according to six axis robot, programming generates the instruction code that each degree of freedom motion is coherent, then in Simulation Control Platform, input generate instruction code and control six axis robot according to instruction code output analog simulation motion, detect simultaneously according to instruction code realize motion path the most consistent with the motion path being originally created；
6) carry out interfering test: described six axis robot connect the drive end between joint set induction module, identification module, analyze module, Distance-sensing module, evade module, fixed point module, and end refer to that joint portion is set with pressure transducer；Then in Simulation Control Platform, structure sets the barrier about six axis robot near the simulation virtual scene interfered, overburden is interfered, position error is interfered；In interfering test, realize INTELLIGENT IDENTIFICATION control by each unit module of six axis robot, when drive end senses exotic according to automatic program identification be whether barrier and suitably displacement is evaded or positions ready；When the problem of bigger error occurs when drive end is in detection and location, by again correcting erroneous path at control end so that it is fixed point puts in place and recovers former process path again；When pressure transducer recognizes the stress overburden of motion carrying, control end and readjust motion pressure-bearing；Interference problem is overcome with this；
7) storing step 1)-6) generate complete execution instruction code and Intelligence Feedback control program, hypostazation six axis robot, by instruction code and Intelligent Recognition ability, completes automatically to process and transport operation in actual processing environment towards processed products；Described six axis robot combines monitoring by execution prior-warning device and posture information receiver module during process operation in actual environment; by performing prior-warning device, even if reflection execution route is abnormal in advance or performs overfatigue, collects geological information real-time monitoring moving process by posture information receiver module.
A kind of six axis robot motion control method based on G code programming, wherein, six axis robot is provided with six-freedom degree motion, constitutes some joint portions and refers to joint portion with end, it is characterised in that described operational approach comprises the following steps:
1) six axis robot Visualization Model under 3D environment is built, taking a limit bottom six axis robot modeler model is the benchmark initial point in cartesian space coordinate system, independent datum level is inserted the most respectively with the power initial surface of six-freedom degree motion, it is respectively M1, M2, M3, M4, M5, M6 from the datum level begun to end, subsequently under labelling static state, the power connection joint of six axis robot performs to refer to the original coordinates of joint with end, and it is recorded as coordinate manifold, the most progressively read the geological information of entirety；
2) in Simulation Control Platform, create simulation virtual 3D environment during six axis robot working motion, import six axis robot Visualization Model, create the path of motion during six axis robot working motion to set up simulation virtual motion, respective motion path, movement time and movement load during the operating of record six-freedom degree motion simultaneously, to analyze the mechanical property pose amplitude, movement velocity and the load-bearing capacity with test six axis robot motion of six axis robot motion；
3) according to step 2) motion of the simulation virtual that creates, the three-dimensional path locus produced when drawing six axis robot fantasy sport by Auto CAD software, then use Master CAM software to follow path locus to generate G code；
4) G code utilizing step 3) to generate combines the respective movement characteristic of six-freedom degree motion of six axis robot, individually extract motion path and the movement time of also six motions of optimization planning, respectively on the basis of six datum levels, the coordinate manifold change contrast original coordinates manifold that the motion path of six motions is produced, and be converted to movement instruction according to number of coordinates collection changing process, combine changes in coordinates according to time-consuming process to draw speed by kinematics solution thus be converted to speed command, last integration schedules G code instructs with the execution of optimization planning thus programs the instruction code that when generating the motion of six-freedom degree motion, path is combined with speed；The movement instruction that number of coordinates collection changing process therein produces also includes movement instruction and the movement instruction of automatic sensing control that fixed point location controls；When the movement instruction using fixed point location to control, coordinate figure is quantitative values, and when using the movement instruction of automatic sensing control, coordinate figure is variate-value；
5) the motion planning order saved to finger from joint according to six axis robot, programming generates the instruction code that each degree of freedom motion is coherent, then in Simulation Control Platform, input generate instruction code and control six axis robot according to instruction code output analog simulation motion, detect simultaneously according to instruction code realize motion path the most consistent with the motion path being originally created；
6) six axis robot connect between joint drive end set memory typing module, analyze module and memory output module, and end refers to that joint portion is set with pressure transducer；In actual environment, hypostazation six axis robot is used to implant instruction code and carry out test operation, and according to operational deficiencies, motion path is optimized in operation, operated by memory typing module storage test, and carry out com-parison and analysis, until improve motion path be speed optimization, program simplify most, disturb minimumization after determine final path, control end and to the movement locus of six axis robot and perform instruction and carry out storing memory；
7) hypostazation six axis robot follows the operation that the motor memory of storage is processed the most towards processed products and transports on the same station of transmission streamline；Described six axis robot combines monitoring by execution prior-warning device and posture information receiver module during process operation in actual environment; by performing prior-warning device, even if reflection execution route is abnormal in advance or performs overfatigue, collects geological information real-time monitoring moving process by posture information receiver module.
The modeler model of the six axis robot of described Simulation Control Platform and the ratio of entity device are 1:1, and the speed of fantasy sport is corresponding with the speed of actual motion；Communicate through agreement real-time transmission data between described Simulation Control Platform, six axis robot and control end, complete process operation motion with emulation or the actual six axis robot that controls；The coordinate manifold change that the motion path of described six-freedom degree motion produces forms multiple coordinate vectors, is converted to combine, by original coordinates, coordinate vector, movement locus, the movement instruction formed when changing；In described step 4), the movement characteristic of six axis robot mainly includes that horizontal rectilinear motion, vertical linear motion, gradient linear motion, plane are moved along de-rotation, move along reverse rotation in space, G code linear interpolation, circular interpolation or joint interpolation can be passed through, and the mutually conversion of three is to realize.
The present invention is on the basis of machining path Track Pick-up G code, the feature of each degree of freedom motion machining path of associating six axis robot, reprogramming generates the instruction code that the processing more refined performs, making machining accuracy higher, programming mode is optional by computer software automated programming or detection type manual programming simultaneously.nullISO-G code standard employs cartesian coordinate system，Eliminate the difference in various Digit Control Machine Tool practical structures，When carrying out the conversion of coordinate system，If six axis robot Cutter coordinate system is also that Cartesian coordinates is (such as rectangular coordinate system、Cylindrical-coordinate system)，Then need to carry out the rotation of necessity、Translation conversion，And for joint coordinate system，Also need to carry out the solving of inverse kinematics equation of six axis robot，On the other hand，Due to Digit Control Machine Tool and the six axis robot difference on processing characteristic，End necessary to man-hour is added for six axis robot and performs to refer to the attitude of joint，Cannot directly obtain from G code，Different instructions is tried to achieve the corresponding attitude of six axis robot according to different algorithms，And utilize track emulation module correct and optimize，This is also track emulation module another important use in addition to prediction collision.
The above, it it is only presently preferred embodiments of the present invention, not the technical scope of the present invention is imposed any restrictions, the technical staff of the industry, under the inspiration of the technical program, some deformation and amendment, every any amendment, equivalent variations and modification above embodiment made according to the technical spirit of the present invention can be made, all still fall within the range of technical solution of the present invention.
Claims (8)
1. a six axis robot motion control method based on G code programming, wherein, six axis robot is provided with six-freedom degree motion, constitutes some joint portions and refers to joint portion with end, it is characterised in that described operational approach comprises the following steps:
1) six axis robot Visualization Model under 3D environment is built, taking a limit bottom six axis robot modeler model is the benchmark initial point in cartesian space coordinate system, independent datum level is inserted the most respectively with the power initial surface of six-freedom degree motion, it is respectively M1, M2, M3, M4, M5, M6 from the datum level begun to end, subsequently under labelling static state, the power connection joint of six axis robot performs to refer to the original coordinates of joint with end, and it is recorded as coordinate manifold, the most progressively read the geological information of entirety；
2) in Simulation Control Platform, create simulation virtual 3D environment during six axis robot working motion, import six axis robot Visualization Model, create the path of motion during six axis robot working motion to set up simulation virtual motion, respective motion path, movement time and movement load during the operating of record six-freedom degree motion simultaneously, to analyze the mechanical property pose amplitude, movement velocity and the load-bearing capacity with test six axis robot motion of six axis robot motion；
3) according to step 2) motion of the simulation virtual that creates, pass through Auto
The three-dimensional path locus that CAD software produces when drawing six axis robot fantasy sport, then uses Master CAM software to follow path locus to generate G code；
4) G code utilizing step 3) to generate combines the respective movement characteristic of six-freedom degree motion of six axis robot, individually extract motion path and the movement time of also six motions of optimization planning, respectively on the basis of six datum levels, the coordinate manifold change contrast original coordinates manifold that the motion path of six motions is produced, and be converted to movement instruction according to number of coordinates collection changing process, combine changes in coordinates according to time-consuming process to draw speed by kinematics solution thus be converted to speed command, last integration schedules G code instructs with the execution of optimization planning thus programs the instruction code that when generating the motion of six-freedom degree motion, path is combined with speed；The movement instruction that number of coordinates collection changing process therein produces also includes movement instruction and the movement instruction of automatic sensing control that fixed point location controls；
5) the motion planning order saved to finger from joint according to six axis robot, programming generates the instruction code that each degree of freedom motion is coherent, then in Simulation Control Platform, input generate instruction code and control six axis robot according to instruction code output analog simulation motion, detect simultaneously according to instruction code realize motion path the most consistent with the motion path being originally created；
6) carry out interfering test: described six axis robot connect the drive end between joint set induction module, identification module, analyze module, Distance-sensing module, evade module, fixed point module, and end refer to that joint portion is set with pressure transducer；Then in Simulation Control Platform, structure sets the barrier about six axis robot near the simulation virtual scene interfered, overburden is interfered, position error is interfered；In interfering test, realize INTELLIGENT IDENTIFICATION control by each unit module of six axis robot, when drive end senses exotic according to automatic program identification be whether barrier and suitably displacement is evaded or positions ready；When the problem of bigger error occurs when drive end is in detection and location, by again correcting erroneous path at control end so that it is fixed point puts in place and recovers former process path again；When pressure transducer recognizes the stress overburden of motion carrying, control end and readjust motion pressure-bearing；Interference problem is overcome with this；
7) storing step 1)-6) generate complete execution instruction code and Intelligence Feedback control program, hypostazation six axis robot, by instruction code and Intelligent Recognition ability, completes automatically to process and transport operation in actual processing environment towards processed products.
2. a six axis robot motion control method based on G code programming, wherein, six axis robot is provided with six-freedom degree motion, constitutes some joint portions and refers to joint portion with end, it is characterised in that described operational approach comprises the following steps:
1) six axis robot Visualization Model under 3D environment is built, taking a limit bottom six axis robot modeler model is the benchmark initial point in cartesian space coordinate system, independent datum level is inserted the most respectively with the power initial surface of six-freedom degree motion, it is respectively M1, M2, M3, M4, M5, M6 from the datum level begun to end, subsequently under labelling static state, the power connection joint of six axis robot performs to refer to the original coordinates of joint with end, and it is recorded as coordinate manifold, the most progressively read the geological information of entirety；
2) in Simulation Control Platform, create simulation virtual 3D environment during six axis robot working motion, import six axis robot Visualization Model, create the path of motion during six axis robot working motion to set up simulation virtual motion, respective motion path, movement time and movement load during the operating of record six-freedom degree motion simultaneously, to analyze the mechanical property pose amplitude, movement velocity and the load-bearing capacity with test six axis robot motion of six axis robot motion；
3) according to step 2) motion of the simulation virtual that creates, pass through Auto
The three-dimensional path locus that CAD software produces when drawing six axis robot fantasy sport, then uses Master CAM software to follow path locus to generate G code；
4) G code utilizing step 3) to generate combines the respective movement characteristic of six-freedom degree motion of six axis robot, individually extract motion path and the movement time of also six motions of optimization planning, respectively on the basis of six datum levels, the coordinate manifold change contrast original coordinates manifold that the motion path of six motions is produced, and be converted to movement instruction according to number of coordinates collection changing process, combine changes in coordinates according to time-consuming process to draw speed by kinematics solution thus be converted to speed command, last integration schedules G code instructs with the execution of optimization planning thus programs the instruction code that when generating the motion of six-freedom degree motion, path is combined with speed；The movement instruction that number of coordinates collection changing process therein produces also includes movement instruction and the movement instruction of automatic sensing control that fixed point location controls；
5) the motion planning order saved to finger from joint according to six axis robot, programming generates the instruction code that each degree of freedom motion is coherent, then in Simulation Control Platform, input generate instruction code and control six axis robot according to instruction code output analog simulation motion, detect simultaneously according to instruction code realize motion path the most consistent with the motion path being originally created；
6) six axis robot connect between joint drive end set memory typing module, analyze module and memory output module, and end refers to that joint portion is set with pressure transducer；In actual environment, hypostazation six axis robot is used to implant instruction code and carry out test operation, and according to operational deficiencies, motion path is optimized in operation, operated by memory typing module storage test, and carry out com-parison and analysis, until improve motion path be speed optimization, program simplify most, disturb minimumization after determine final path, control end and to the movement locus of six axis robot and perform instruction and carry out storing memory；
7) hypostazation six axis robot follows the operation that the motor memory of storage is processed the most towards processed products and transports on the same station of transmission streamline.
A kind of six axis robot motion control method based on G code programming the most according to claim 1 and 2, it is characterized in that, in described step 4), the movement characteristic of six axis robot mainly includes that horizontal rectilinear motion, vertical linear motion, gradient linear motion, plane are moved along de-rotation, move along reverse rotation in space, G code linear interpolation, circular interpolation or joint interpolation can be passed through, and the mutually conversion of three is to realize.
A kind of six axis robot motion control method based on G code programming the most according to claim 1 and 2, it is characterized in that, communicate through agreement real-time transmission data between described Simulation Control Platform, six axis robot and control end, complete process operation motion with emulation or the actual six axis robot that controls.
A kind of six axis robot motion control method based on G code programming the most according to claim 1 and 2; it is characterized in that; described six axis robot combines monitoring by execution prior-warning device and posture information receiver module during process operation in actual environment; by performing prior-warning device, even if reflection execution route is abnormal in advance or performs overfatigue, collects geological information real-time monitoring moving process by posture information receiver module.
A kind of six axis robot motion control method based on G code programming the most according to claim 1 and 2, it is characterized in that, the modeler model of the six axis robot of described Simulation Control Platform and the ratio of entity device are 1:1, and the speed of fantasy sport is corresponding with the speed of actual motion.
A kind of six axis robot motion control method based on G code programming the most according to claim 1 and 2, it is characterized in that, the coordinate manifold change that the motion path of described six-freedom degree motion produces forms multiple coordinate vectors, is converted to combine, by original coordinates, coordinate vector, movement locus, the movement instruction formed when changing.
A kind of six axis robot motion control method based on G code programming the most according to claim 1 and 2, it is characterized in that, when the movement instruction using fixed point location to control, coordinate figure is quantitative values, when using the movement instruction of automatic sensing control, coordinate figure is variate-value.
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| CN107363183A (en) * | 2017-07-24 | 2017-11-21 | 东莞市中泰模具股份有限公司 | For interfering the computer-readable recording medium of situation between inspecting manipuator and punch press in the case of non-avaible |
| CN107443379A (en) * | 2017-08-21 | 2017-12-08 | 北京精密机电控制设备研究所 | A kind of mechanical arm motion control method based on emulation data |
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| CN110450160A (en) * | 2019-08-14 | 2019-11-15 | 合肥工业大学 | A kind of open control method for exempting to program robot |
| CN110976206A (en) * | 2019-11-28 | 2020-04-10 | 深圳市世宗自动化设备有限公司 | Dispensing control method and device, computer equipment and storage medium thereof |
| CN112070835A (en) * | 2020-08-21 | 2020-12-11 | 达闼机器人有限公司 | Mechanical arm pose prediction method and device, storage medium and electronic equipment |
| CN112936292A (en) * | 2021-03-29 | 2021-06-11 | 昆明理工大学 | Open-source slicing path planning robot arc additive manufacturing method |
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| CN113714352A (en) * | 2021-08-23 | 2021-11-30 | 上海发那科机器人有限公司 | Robot intelligent pipe bending system and method |
| CN113696185A (en) * | 2021-09-17 | 2021-11-26 | 南京师范大学 | Automatic generation method of manipulator control program |
| CN113805528A (en) * | 2021-10-11 | 2021-12-17 | 深圳华数机器人有限公司 | Linkage control method of glass machine and manipulator based on numerical control double-channel system |
| CN117075539A (en) * | 2023-10-16 | 2023-11-17 | 歌尔股份有限公司 | Six-axis platform control method, device, equipment and computer readable storage medium |
| CN117075539B (en) * | 2023-10-16 | 2024-02-09 | 歌尔股份有限公司 | Six-axis platform control method, device, equipment and computer readable storage medium |
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