CN1382565A - Portable simulating developer for robot - Google Patents
Portable simulating developer for robot Download PDFInfo
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- CN1382565A CN1382565A CN 01107364 CN01107364A CN1382565A CN 1382565 A CN1382565 A CN 1382565A CN 01107364 CN01107364 CN 01107364 CN 01107364 A CN01107364 A CN 01107364A CN 1382565 A CN1382565 A CN 1382565A
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Abstract
A simulation developer for portable robot is composed of microcomputer, single-chip microprocessor system, input interface module, output power driver module, controllable power supply, and "portable robot CAD system" software.
Description
The present invention relates to a kind of low cost, high-performance, can develop " portable simulating developer for robot " of portable robot easy, apace.
Because the needs that modern industry is produced and the raising of industrial robot technical merit, industrial robot has all been used in many commercial production field.Along with this high-tech product enters the commercial production scene, fundamentally changed traditional production model.At present, the development scheme of industrial robot is directly restricting the application and the popularization of industrial robot, fast, development scheme not only directly promotes the application and the popularization of industrial robot flexibly, and directly determines industrial robot to finish the flexibility of production operation.
The exploitation industrial robot comprises industrial robot hardware and Control Software exploitation two parts.The industrial robot hardware development generally comprises steps such as production operation analysis, scheme are determined, construction geometry analysis, motion analysis, dynamic characteristic analysis, drawing protract, and these analytical works require very high to industrial robot professional knowledge.The exploitation of industrial robot Control Software to the industrial robot programming, all is to carry out under the support of microcomputer system software promptly.Several modes are specifically arranged: the robot language programming, realized computer programming, be to adopt similar Basic Programming with Pascal Language mode development machines people control program.Because the robot language overwhelming majority of exploitation develops separately according to the special purpose robot at present, still there is not general robot language both at home and abroad; Off-line programing is the programmed method that carries out the robot trajectory planning under the situation of off-line, and its ultimate system is based on the graphics system of cad data.Utilize cad data to generate robot motion's track, majority still is in conceptual phase both at home and abroad at present.Teach programming is the most general method of using at present, and it is to carry out in the industrial robot production scene that this method programs, and operating personnel can move by given movement locus by hand steered industrial robot; Or the button of operation teach box drives industrial robot by given movement locus motion, and given movement locus is converted into the angle information of each joint shaft of robot, and record advances the internal storage of master control microcomputer; When reappearing given movement locus, the master control microcomputer is read corresponding information from internal memory, adopt interpolation algorithm and robot inverse kinematics algorithm, position and attitude with the movement locus intermediate point, change the angle information that corresponding joint shaft should rotate into, and to sending control command, drive each joint shaft, the movement locus of reproduction teaching in certain accuracy rating from microcomputer or one-chip computer.Owing to will satisfy the needs of real-time control, configuration has proposed very high requirement to microcomputer system, when teaching and reproduction movement locus, all must utilize the master control microcomputer.Above-mentioned industrial robot hardware development and Control Software development scheme not only require the microcomputer of high configuration, cause development system price height; And, higher requirement has been proposed all to developer's professional knowledges such as industrial robot, microcomputer, robot language and CAD application.And, industrial robot production operation mode change or the production operation process modification after, the cycle of developing Control Software once more is long, the requirement of incompatibility production operation flexibility.In fact, in actual industrial production, a very big class production operation task is arranged owing to be subjected to the restriction of the on-the-spot and production operation mode of production operation, need a kind of compact conformation, volume little, in light weight, be easy to carry and mobile flexibly portable robot is finished.Usually, it is to carry out in order that portable robot is finished the production operation task, and the movement locus of finishing production operation is given; Perhaps movement locus can be decomposed into the combination of multiple single movement track, can control and synthetic given movement locus each single movement track.And end-effector does not join with the external world all the time in the production operation process, only needs portable robot is carried out position control.The position is little because the revolute robot takes up room, and its joint type arm type arm is made of big arm, forearm, wrist, makes the joint type arm can fold compact conformation; The production operation space is big behind the joint type stretching hand with arm, be installed in the end effector on the joint type arm even can surmount obstacles to finish production operation, and be the type of portable robot first-selection.For reducing the portable robot production cost and shortening the Control Software construction cycle, portable robot drives the general stepper motor that adopts, and control mode mostly is the open loop control based on one chip microcomputer.As continue to use above-mentioned prior art exploitation portable robot and Control Software, be unnecessary.Now, robot just develops towards multi-field, miniaturization, economical direction, numerous technician both had been familiar with this professional technique, tentatively grasp the microcomputer working knowledge again, be development and the major technique strength of promoting robot application, be badly in need of a kind of low cost, high-performance, can be easy, development machines people's developing instrument apace.
The present invention be directed to and adopt prior art exploitation portable robot and Control Software, there is robot development's system price height, the exploitation Control Software cycle is long, and to demanding deficiencies of professional knowledge such as developer's industrial robot, microcomputer, robot language and CAD application.For satisfying numerous technician in conjunction with this professional work reality, the needs of exploitation portable robot and Control Software provide a kind of " portable simulating developer for robot ".Its fundamental purpose is: with the portable robot development system of low price, easy, develop portable robot and Control Software apace.
The present invention seeks to realize like this: by PC microcomputer, Single Chip Microcomputer (SCM) system, input interface circuit, output power driving circuit, and the control power supply constitutes developers hardware; Form portable simulating developer for robot jointly together with " portable robot CAD system " tool software of exploitation.Exploitation portable machine man-hour, at first use portable simulating developer for robot, under " portable robot CAD system " tool software support, optimize the portable robot structural parameters by production operation task and given production operation movement locus, the emulation portable robot is finished the movement locus of production operation, the portable robot control program is edited in planning portable robot drawback movement path automatically, preserves graphic documentation with * .dxf document form; After contrasting each development plan, select preferred plan processing portable robot model machine again; Then with Single Chip Microcomputer (SCM) system, input interface circuit, output power driving circuit, need be installed to the executive component places such as big arm, forearm, wrist of portable robot by control, the PC microcomputer is connected with Single Chip Microcomputer (SCM) system.Constitute developer, simulating developer device, the integrated development system of portable robot, the developer is by the practical operation of simulating developer device, debugging portable robot, and the movement locus and the action of production operation finished in reproduction.Debugging finishes control program is solidificated in the memory EPROM, and * .dxf graphic file is read in by AutoCAD software draws out mechanical drawing, finishes the exploitation of portable robot.
Adopt the portable simulating developer for robot of technique scheme, under " portable robot CAD system " tool software support: optimize portable robot physical construction, the emulation portable robot is finished the movement locus of production operation, planning portable robot drawback movement path, automatically edit the portable robot control program, preserve graphic documentation with * .dxf document form, read in by AutoCAD software and to draw mechanical drawing, the on-line debugging portable robot, easy, develop portable robot and Control Software apace.By Computer Simulation, both avoided repeating to revise, process again the economic loss and the loss of time that the portable robot model machine brings, improved the portable robot development quality again, shortened the construction cycle.Numerous technician have been satisfied in conjunction with this professional work reality, the needs of exploiting economy type portable robot and Control Software.Use 486 type PC microcomputers as simulating developer device main frame, adopt the high electronic devices and components of cost performance to make Single Chip Microcomputer (SCM) system, input interface circuit, output power driving circuit, reduced the price of portable simulating developer for robot, make this have than the portable simulating developer for robot of high-tech content and off-line programing mode can in, small enterprise is widely used and promote.
Below in conjunction with accompanying drawing embodiments of the invention are specifically described, wherein:
Fig. 1 is a portable simulating developer for robot hardware front view.
Fig. 2, Fig. 3, Fig. 4, Fig. 5 are respectively " portable robot CAD system " tool software development interface.
Microcomputer 1 shown in Figure 1 adopts 486 type PC microcomputers, basic configuration is cpu chip 486DX, internal memory 8MB, floppy disk 1.44MB, hard disk drive 270MB, display card, VGA monochrome display, keyboard, mouse, and operating system is Dos6.20 or Windows3.2/95.
Shown in Figure 12 is Single Chip Microcomputer (SCM) system, and shown in Figure 13 is the output power driving circuit, and shown in Figure 14 is input interface circuit.Among the embodiment 1, Single Chip Microcomputer (SCM) system is formed totally four groups by chip 8031, EingangsAusgangsSchnittstelle 8255, address latch 74ls373, address decoder 74LS138, memory under program 2764, data memory 6264, serial communication MC1488, MC1489, button and two groups of biserial 20 pin sockets.Among the embodiment 2, Single Chip Microcomputer (SCM) system is formed totally four groups by chip AT89C52, input/output interface chip 82C55, serial communication MC1488, MC1489, button and two groups of biserial 20 pin sockets.Output power driving circuit 3 is formed totally eight groups by the single-row three-pin plug of input, photoelectric coupling 4N25, integrated driving 74LS06 and 74LS07, power amplifier tube TIP126, switch control tube TIP127, the single-row six pin sockets of output.Input interface circuit 4 is formed totally eight groups by the single-row three-pin socket of input, photoelectric coupling 4N25, TOP12, the single-row four-pin plug of output.Startup, stop button control single chip computer system are set.Two pilot lamp are set, and one is inserted Single Chip Microcomputer (SCM) system, and one is inserted the output power driving circuit.According to needs are installed, Single Chip Microcomputer (SCM) system, input interface circuit, output power driving circuit be independent production unit circuit module respectively.Needs according to the control portable robot are installed in executive component places such as big arm, forearm, wrist respectively, constitute the electromechanical integration functional module, connect by two groups of biserial 20 pin parallel cable plugs between the two.
Single Chip Microcomputer (SCM) system is behind selected singlechip chip, input/output interface chip, address latch, address decoder, memory under program, data memory, communication interface, button, address bus, data bus, control bus, chip selection signal can connect in accordance with regulations, the general step that its concrete grammar and single-chip microcomputer are used, the professional and technical personnel is quite familiar to this, repeats no more.Only to the address assignment of input/output interface chip 8255 or 82C55, input interface circuit module, output power driver element circuit module explain.8255 or the input of each road, the output port of 82C55 all be connected with peripheral circuit through photoelectric coupling.8255 or PA0 and PA1 mouth, PA2 and PA3 mouth, PA4 and PA5 mouth, PA6 and PA71, PB0 and PB1 mouth, PB2 and PB3 mouth, PB4 and PB5 mouth, PB6 and the PB7 mouth of 82C55 be eight groups of output ports.PC0, PC1, PC2, PC3 mouth are done switch control, and PC4, PC5, PC6, PC7 mouth connect the photoelectric coupling detecting device, are connected with input interface circuit module, output power driver element circuit module with the parallel cable plug by two groups of biserials, 20 pin sockets.The input interface circuit module has identical circuit structure, imports single-row three-pin socket (connecing detecting element) and connects photoelectric coupling 4N25, TOP12 connection output single-row four-pin plug (connecing Single Chip Microcomputer (SCM) system).Output power driver element circuit module has identical circuit structure.With the control step motor is example: 8255 or the signal of the PB0 mouth of 82C55 output connect the single-row three-pin plug of input and connect photoelectric coupling 4N25, the signal after isolating connects the unit of unit of integrated driving 74LS06 and 74LS07.The signal of PB1 mouth output connects the single-row three-pin socket of same input and connects another photoelectric coupling 4N25, and the signal after isolating connects another unit of integrated driving 74LS06 and another unit of 74LS07.The output signal of four unit promotes four power amplifier tube TIP126 respectively, and the electric current after the amplification connects stepper motor through exporting single-row six pin sockets.The signal of PC0 mouth output connects the single-row three-pin socket of same input and connects photoelectric coupling 4N25, output after isolating connects the unit of integrated driving 74LS06, its output signal pull switch control tube TIP127, the control step motor inserts the high voltage drive stepper motor.
Shown in Figure 15 is that the control power supply comprises one group of 6V accumulator, one group of 12V accumulator.
For ease of numerous technician in conjunction with this professional work reality, exploiting economy type portable machine man-hour, can auxiliary robot design efforts such as construction geometry analysis, motion analysis, dynamic characteristic analysis, drawing protract during hardware development; With break away from a large amount of, the Palingraphia assembly language of Control Software developer, this both uninteresting, the control program development scheme of easily makeing mistakes again; And after adapting to change of portable robot structural parameters or production operation process modification, develop the needs of control program fast, developed " portable robot CAD system " tool software.Exploitation portable machine man-hour, operation " portable robot CAD system " tool software enters the main interface of exploitation as shown in Figure 2 on portable simulating developer for robot, enters each submenu with the mouse-click menu.
Fig. 3 according to the concrete condition at production operation object and production operation scene, imports the portable robot structural parameters of expectation for optimizing portable robot structural parameters interface, selects the production operation movement locus of prompting." portable robot CAD system " will set up mathematical model with the portable robot structural parameters of input and given production operation movement locus, calculate the angular turn data of each joint shaft; Press the projects such as statical moment, the moments of inertia, rigidity and best reduction gear ratio of portable robot with Monte Carlo analysis, to improve portable robot kinematic accuracy and dynamic perfromance is that desired value is optimized, provide the portable robot parameter of optimizing structure, and preserve with document form data.
Fig. 5 is emulation portable robot production operation movement locus interface, and during production operation, the movement locus of end effector of robot is the movement locus of tracing preset all the time.For obtaining real emulation, the portable robot equation of motion is inverted separate, make the object pose on the movement locus, be converted to shoulder joint, elbow joint, carpal joint angles value.Appliance computer graphics principle is drawn portable robot production operation movement locus simulation figure as shown in Figure 5, observes the motion state that portable robot is finished production operation in development interface intuitively.The movement locus of observing emulation does not meet the actual motion track of finishing production operation, can be by revising the emulation again of portable robot structural parameters.To portable robot values of the structural parameters by the emulation of production operation movement locus, to preserve with document form data, graph data is preserved with * .dxf graphic file form.
Fig. 4 is planning interface, portable robot drawback movement path, finish production operation after, the drawback movement path of portable robot, can be in development interface path planning intuitively.Big arm, forearm, wrist are the electromechanical integration functional module, can individual drive or combination drive corresponding big arm, forearm, the wrist of simulation figure.According to prompting, select single step or aggregate motion order, the motion of the big arm of emulation, forearm, wrist, the individual drive or the combination of just corresponding real big arm, forearm, wrist drive.Portable robot is made simulating sports as shown in Figure 4 by select command.As simulating sports generation grazing, can cancel select command, return to last emulation.Reselect order again, make simulating sports once more.By each simulating sports, can cook up the drawback movement path, preserve with document form data in the drawback movement path of cooking up.
Fig. 5 edits portable robot Control Software interface (same drawing form) automatically, portable robot is finished the action that production operation needs, be decomposed into the monomer motion and the aggregate motion of big arm, forearm, wrist, write, debugged modularized program respectively and preserve with document form data.Requirement according to prompting and production operation technology, to call in by the data file that production operation motion simulation and drawback movement path planning are preserved, in visual development interface, move as shown in Figure 5 the overall process in continuous simulation production operation campaign and drawback movement path.In emulation, compile the first program of control program automatically.Utilize the software for editing slightly modified, form the source program of control program.After change of portable robot structural parameters or the production operation process modification, can develop control program once more fast, adapt to the needs of portable robot production operation flexibility.
Utilize method of computer simulation, can on PC microcomputer display, contrast development plan repeatedly.After selecting preferred plan, preserve graphic file with * .dxf graphic file form, read in by AutoCAD software and to draw out mechanical drawing, processing portable robot model machine, both avoided repeatedly, repeated to process the economic loss and the loss of time that model machine brings, improve the portable robot development quality again, shortened the construction cycle.
Be check Computer Simulation production operation movement locus, and the difference between the true production operation movement locus of portable robot, can actual debugging portable robot.Need by control, Single Chip Microcomputer (SCM) system, input interface circuit module, output power drive circuit module are respectively installed to each executive component place, connect by two groups of biserial 20 pin parallel cable plugs therebetween.Input interface circuit module joint detection element, the output power drive circuit module connects stepper motor, and the PC microcomputer is connected with Single Chip Microcomputer (SCM) system, forms developer, simulating developer device, the integrated development system of portable robot.Automatically the portable robot control program source program of editing is collected on the PC microcomputer, and assembled control program is input to Single Chip Microcomputer (SCM) system by the communication interface of PC microcomputer.The developer finishes production operation by the operation of simulating developer device, debugging portable robot by given movement locus.After the debugging portable robot meets the production operation requirement, control program is solidificated in the memory EPROM, finishes the exploitation of portable robot.After change of portable robot structural parameters or the production operation process modification, can be under " portable robot CAD system " tool software support, automatically edit once more, compilation, debugging control program, again control program is solidificated in the memory EPROM, finish the exploitation once more of portable robot fast, satisfied the requirement of portable robot production operation flexibility.
Controlling schemes is based on the open loop control of full software, control program control by the input Single Chip Microcomputer (SCM) system, Single Chip Microcomputer (SCM) system has multiple function: make Programmable Logic Controller the production operation process is done sequential control, each operation that portable robot is finished production operation is controlled successively; In each operation, acceleration, deceleration, commutation, the phase sequence of making stepper motor distributed, the control of just changeing, reverse; Input signal is through input interface circuit module input Single Chip Microcomputer (SCM) system, and the control signal of Single Chip Microcomputer (SCM) system output is through output power drive circuit module drive stepping motor; Or make switch through the output power drive circuit module and control.
Above-described only is to adopt the principle of the invention, can develop " portable simulating developer for robot " embodiment of portable robot easy, fast.Should be pointed out that for a person skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also make some modification and improvement, also should be considered as belonging to protection scope of the present invention.
Claims (10)
1. portable simulating developer for robot, described portable simulating developer for robot comprises PC microcomputer, Single Chip Microcomputer (SCM) system, control power supply, it is characterized in that having input interface circuit module, output power drive circuit module and " portable robot CAD system " tool software; Under " portable robot CAD system " tool software support, by Computer Simulation, finish and optimize the portable robot structural parameters, the emulation portable robot is finished the movement locus of production operation, planning portable robot drawback movement path, automatically editor's portable robot control program is preserved design efforts such as graph data with * .dxf graphic file; According to the control needs, Single Chip Microcomputer (SCM) system, input interface circuit module, output power drive circuit module are installed to each executive component place of portable robot, interconnect by cable, the PC microcomputer is connected with Single Chip Microcomputer (SCM) system; Form developer, simulating developer device, the integrated development system of portable robot, finish production operation by the operation of simulating developer device, debugging portable robot by given movement locus, after the debugging portable robot meets the production operation requirement, control program is solidificated in the memory EPROM, * the .dxf graphic file is read in by AutoCAD software and draws out mechanical drawing, finishes the exploitation of portable robot.
2. portable simulating developer for robot according to claim 1 is characterized in that Single Chip Microcomputer (SCM) system is made up of MCS-51 series monolithic chip and peripheral circuit; The production unit circuit module is installed in the executive component place separately; By control program control, has multiple function: make Programmable Logic Controller the production operation process is done sequential control, in each operation, each executive component is done small-signal output control; Input signal is through input interface circuit module input Single Chip Microcomputer (SCM) system, and the control signal of Single Chip Microcomputer (SCM) system output drives each executive component through the output power drive circuit module.
3. portable simulating developer for robot according to claim 1, it is characterized in that input interface circuit is made up of input single-row three-pin socket, photoelectric coupling integrated package, the single-row four pin sockets of output, independent production unit circuit module, be installed in the executive component place, input signal is imported Single Chip Microcomputer (SCM) system.
4. portable simulating developer for robot according to claim 1, it is characterized in that the output power driving circuit is by the single-row three-pin socket of input, photoelectric coupling integrated package, integrated driving integrated package, power amplifier tube, switch control tube, the single-row six pin sockets of output are formed, independent production unit circuit module, be installed in the executive component place, driving voltage is outputed to executive component.
5. portable simulating developer for robot according to claim 1, it is characterized in that controlling power supply and comprise that one group of voltage is the accumulator of 6V, with one group of voltage accumulator that is 12V, two group storage batteries do not connect on circuit, voltage is that the accumulator of 6V is connected with Single Chip Microcomputer (SCM) system by a cable, voltage is that the accumulator of 12V is connected with the output power drive circuit module with the input interface circuit module by another cable, and Single Chip Microcomputer (SCM) system and input interface circuit module and output power drive circuit module are separated on circuit.
6. portable simulating developer for robot according to claim 1, it is characterized in that " portable robot CAD system " tool software optimization portable robot structural parameters, be with the portable robot structural parameters of input and given production operation movement locus, set up mathematical model, press the projects such as statical moment, the moments of inertia, rigidity and best reduction gear ratio of portable robot with Monte Carlo analysis, to improve portable robot kinematic accuracy and dynamic perfromance is that desired value is optimized, provide the portable robot parameter of optimizing structure, preserve with document form data.
7. portable simulating developer for robot according to claim 1, it is characterized in that " portable robot CAD system " tool software emulation portable robot finishes the production operation movement locus, be the portable robot equation of motion to be inverted separate, make the object pose on the movement locus, be converted to shoulder joint, elbow joint, carpal joint angles value, the appliance computer graphics, the emulation portable robot is finished the production operation movement locus, to portable robot structural parameters by the emulation of production operation movement locus, preserve with document form data, graph data is preserved with * .dxf graphic file form.
8. portable simulating developer for robot according to claim 1, it is characterized in that " portable robot CAD system " tool software planning portable robot drawback movement path, it is the mode of electromechanical integration functional module real motion with the simulating sports correspondence, select single step or aggregate motion order, portable robot is made simulating sports by select command, cooks up portable robot drawback movement path and preserves with document form data.
9. portable simulating developer for robot according to claim 1, it is characterized in that " portable robot CAD system " tool software automatically editor make and take the formula robot control program, be that portable robot is finished the action that production operation needs, be decomposed into the monomer motion and the aggregate motion of big arm, forearm, wrist, write respectively, debugging module program and preserve with document form data; Given production operation process conditions are called in the data file operation in visual development interface, the overall process in continuous simulation production operation campaign and drawback movement path in emulation, is compiled the first program of control program automatically.
10. the practical purposes of a portable simulating developer for robot as claimed in claim 1 is characterized in that this purposes is used to develop portable robot, may further comprise the steps:
A. operation " portable robot CAD system " tool software is developed portable robot in development interface;
B. optimizing portable robot structural parameters interface, optimize the portable robot structural parameters with Monte Carlo analysis;
C. finish production operation movement locus interface at the emulation portable robot, the appliance computer graphics, the emulation portable robot is finished the production operation movement locus, preserves the portable robot graph data with * .dxf graphic file form;
D. at planning interface, portable robot drawback movement path, select single step or aggregate motion order, plan portable revolute robot's drawback movement path;
E. at automatic editor's portable robot Control Software interface, given production operation process conditions, the overall process in emulation production operation track and drawback movement path is compiled the first program of control program automatically;
F. on the PC microcomputer, read in * .dxf graphic file, draw out mechanical drawing by AutoCAD software;
G. on the PC microcomputer, the assembler handler source program is input to Single Chip Microcomputer (SCM) system with assembled control program;
H., Single Chip Microcomputer (SCM) system, input interface circuit module, output power drive circuit module are installed to each executive component place of portable robot, stube cable, actual debugging portable robot;
I. on the PC microcomputer, the control program that debugging is correct is solidificated in the memory EPROM.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875203A (en) * | 2014-02-27 | 2015-09-02 | 发那科株式会社 | Robot simulation device for generating motion path of robot |
| CN107139215A (en) * | 2017-07-10 | 2017-09-08 | 吉林省博辉智能化机器人制造有限公司 | A kind of industrial robot decoder examining-repairing instrument |
| US9925664B2 (en) | 2014-02-27 | 2018-03-27 | Fanuc Corporation | Robot simulation device for generation motion path of robot |
| CN108789415A (en) * | 2018-07-27 | 2018-11-13 | 珠海格力智能装备有限公司 | Robot and storage method and device for motion trail data of robot |
| CN112951026A (en) * | 2021-02-21 | 2021-06-11 | 河南工业职业技术学院 | Extensive applicability's mechatronic combination formula experimental system |
| CN113681574A (en) * | 2021-08-24 | 2021-11-23 | 南京航空航天大学 | Three-dimensional visual simulation and off-line programming system of robot for metal plate bending |
| CN114367975A (en) * | 2021-11-15 | 2022-04-19 | 上海应用技术大学 | Verification system of series industrial robot control algorithm |
| CN116909205A (en) * | 2023-08-23 | 2023-10-20 | 东莞市新佰人机器人科技有限责任公司 | Visual programming method and system for robot |
-
2001
- 2001-04-20 CN CN 01107364 patent/CN1382565A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875203A (en) * | 2014-02-27 | 2015-09-02 | 发那科株式会社 | Robot simulation device for generating motion path of robot |
| US9573273B2 (en) | 2014-02-27 | 2017-02-21 | Fanuc Corporation | Robot simulation device for generating motion path of robot |
| US9925664B2 (en) | 2014-02-27 | 2018-03-27 | Fanuc Corporation | Robot simulation device for generation motion path of robot |
| CN107139215A (en) * | 2017-07-10 | 2017-09-08 | 吉林省博辉智能化机器人制造有限公司 | A kind of industrial robot decoder examining-repairing instrument |
| CN108789415A (en) * | 2018-07-27 | 2018-11-13 | 珠海格力智能装备有限公司 | Robot and storage method and device for motion trail data of robot |
| CN112951026A (en) * | 2021-02-21 | 2021-06-11 | 河南工业职业技术学院 | Extensive applicability's mechatronic combination formula experimental system |
| CN113681574A (en) * | 2021-08-24 | 2021-11-23 | 南京航空航天大学 | Three-dimensional visual simulation and off-line programming system of robot for metal plate bending |
| CN114367975A (en) * | 2021-11-15 | 2022-04-19 | 上海应用技术大学 | Verification system of series industrial robot control algorithm |
| CN116909205A (en) * | 2023-08-23 | 2023-10-20 | 东莞市新佰人机器人科技有限责任公司 | Visual programming method and system for robot |
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