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Generation and simulation of robot trajectories in a virtual CAD-based off-line programming environment

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2001年第8期17卷 610-624页

作者： Zha, XF Du, H Nanyang Technol Univ Sch Mech & Prod Engn Singapore 639798 Singapore

This paper presents a new approach to the generation and optimisation of the position and orientation trajectories in Cartesian task space, and simulation in a virtual CAD-based off-line programming environment. A novel concept of the robot pose ruled surface is proposed, and defined as a motion locus of the robot orientation vector, i.e. the vector of equivalent angular displacement. The planning for trajectories of robot end-effectors can be accomplished by generating the robot pose ruled surface and optimising its area under the constraints with good kinematics and dynamics performances. The established optimisation model is based on functional analysis and dynamics planning, and is simplified by using high-order polynomial space curves as the robotic position and orientation trajectories. The developed system, RoboSim, is a virtual integrated environment which can be used as a testbed for automatic motion planning and simulation for robots. Two examples are given to verify the feasibility of the proposed approach and models, and to demonstrate the capabilities of generation, optimisation, and simulation modules and libraries in the RoboSim package. The simulation results show that the approach and system are feasible and useful for motion planning, performance analysis and evaluation, and CAD-based prototyping and off-line programming in both the virtual and the real design and planning environment.

关键词： CAD motion planning off-line programming optimisation performance analysis and evaluation robot pose ruled surface trajectory planning virtual prototyping

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CAD off-line programming FOR INDUSTRIAL MACHINE VISION

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1991年第2期4卷 129-143页

作者： REDARCE, T LUCAS, Y BETEMPS, M JUTARD, A 1. Laboratoire d'Automatique Industrielle Institut National des Sciences Appliquées Batiment 303 20 Avenue A. Einstein 69621 Villeurbanne Cedex France

CAD/CAM tools are essential components of the computer-integrated factory. Up to now, they have been used for tasks such as the simulation and path programming of numerically controlled machine tools, and sometimes industrial robots. The CAD-vision interconnection described here enables us to program parts learning on the workstation, to download piece features in the vision system for inspection on the production line, to simulate the recognition process on a set of parts stored in the computer, and to update vision files after modifications in the CAD system database.

关键词： CAD CAM off-line programming INDUSTRIAL VISION PATTERN RECOGNITION SIMULATION

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An off-line programming system for robotic drilling in aerospace manufacturing

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2013年第9-12期68卷 2535-2545页

作者： Zhu, Weidong Qu, Weiwei Cao, Lianghong Yang, Di Ke, Yinglin Zhejiang Univ Dept Mech Engn Hangzhou 310027 Peoples R China

off-line programming systems are essential tools for the effective use of robots in the manufacturing environment. This paper presents a dedicated off-line programming system for robotic drilling in aerospace manufacturing. Following a brief introduction of the system architecture, the paper discusses two major problems of off-line programming for robotic drilling, i.e., redundancy resolution and position correction. A new performance index is proposed for the combined requirements of singularity and joint-limit avoidance, followed by a discussion of the redundancy resolution scheme by using numerical optimization at the joint displacement level. A position correction method using measurement data of reference holes is developed for the enhancement of robotic drilling accuracy. Robot programs generated by using the developed system have been tested on a robotic drilling system, and the experimental results are provided.

关键词： off-line programming Robotic drilling Redundancy resolution Singularity avoidance Joint-limit avoidance Position correction

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AUTOMATED INVERSE-KINEMATICS FOR ROBOT off-line programming

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ROBOTICA 1994年第1期12卷 45-53页

作者： RED, WE GONG, SW Department of Mechanical Engineering Brigham Young University Provo Utah 84602 (USA). Department of Mechanical Engineering Tennessee Tech. University Cookeville TN 38501 (USA).

Automated methods are developed to classify a robot's kinematic type and select an appropriate library inverse-kinematic solution based on this classification. These methods automatically generate Denavit-Hartenberg joint frame parameters, given any frame representation that can mathematically be represented as a homogeneous transformation. To reduce the number of closed-form inverse-kinematics solutions required for a broad class of serial robots, additional methods account for differences in robot zero state, base frame location, and joint polarity. Further generalization results from using joint frame decoupling to map lower degree-of-freedom robots into the inverse-kinematics solutions of higher degree-of-freedom robots.

关键词： off-line programming INVERSE KINEMATICS ROBOTS AUTOMATED METHODS

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Research on off-line programming method of spatial intersection curve welding based on VTK

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2020年第5-6期106卷 1587-1599页

作者： Hong, Lei Wang, Baosheng Xu, Zhenqin Yan, Zhuwen Nanjing Inst Technol Sch Automot & Rail Transit Nanjing 211167 Peoples R China Nanjing Inst Technol Jiangsu Prov Engn Lab Intelligent Mfg Equipment Ind Technol Res Inst Intelligent Equipment Nanjing 211167 Peoples R China

Robot off-line programming is widely used in the field of spatial intersection curve welding. However, several existing problems are needed to be resolved which include the following: the operation process depends on the third-party CAD software, the welding trajectory planning depends on the precise analytical formula, and the determination of welding posture lacks fusion of geometrical features of surrounding surfaces. This paper presents an off-line programming method of spatial intersection curve welding based on visualization toolkit (VTK). In this method, the visualization pipeline and observer/command mode of VTK are used to display the 3D model of the robot welding system and pick up the surfaces around the welding seam respectively. By calculating the normal vectors of the picked surfaces, the equidistant cutter planes perpendicular to these surfaces can be automatically created to form the planning weld nodes on the intersection of the surfaces, and the position and posture of the welding torch on weld nodes can be extracted. Furthermore, the position and posture along the weld curve are discretized by B-spline curve interpolation and quaternion spherical linear interpolation, respectively. Finally, the motion simulation is realized by the application of robot inverse kinematics. This method does not depend on the specific form of intersection, and all calculation processes are completed within the system, avoiding tedious external data calculation and import process. The correctness and practicability of the method are verified by the welding experiment of saddle-shaped cylindrical intersection pipes.

关键词： off-line programming Welding Spatial intersection curve Visualization toolkit (VTK)

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PC-based off-line programming in the shipbuilding industry: open architecture

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ADVANCED ROBOTICS 2005年第4期19卷 435-458页

作者： Kim, CS Hong, KS Han, YS Pusan Natl Univ Sch Mech Engn Pusan 609735 South Korea Daewoo Shipbldg & Marine Engn Ltd Robot Res & Dev Team Geoje Si 656714 Gyeongsangnam D South Korea Daewoo Shipbldg & Marine Engn Ltd Ind Applicat Res & Dev Inst Geoje Si 656714 Gyeongsangnam South Korea Pusan Natl Univ Korea Sch Mech Engn Pusan 609735 South Korea

In this paper, a PC-based off-line programming (OLP) method using the virtual reality modeling language is proposed. The developed OLP system consists of simulation programs, a block-arrangement algorithm, an optimal traveling-path generation algorithm, an automatic robot program generator and the TRIBON CAD interface. The strength of the developed PC-based OLP system lies in its flexibility in handling the changes in the robot's target objects. The operator can generate robot programs very easily and quickly. Possible applications of the developed OLP can be extended to port automation, container loading/unloading processes as well as painting and grinding processes in the shipbuilding industry.

关键词： PC-based control open architecture off-line programming crane and shipbuilding industrial robot virtual reality modeling genetic algorithm

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SPECIFIC COMPUTATION OF INVERSE KINEMATICS IN A ROBOT off-line programming ENVIRONMENT

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ROBOTICA 1989年第1期7卷 65-69页

作者： CASSAR, JP VANHEEGHE, P Institut Supérieur d'electronique du Nord 41 Boulevard Vauban 59046 Lille Cedex (France)

An off-line programming station for a robotised welding cell is presented. In this context the choice of a kinematic inversion method applied to the simulation of robots is discussed.A direct inversion method is developed in the case of 5-axes robots of plane geometry and for a task presenting a symmetry of revolution. It uses the geometry of the tool and of the robot and vectorial calculations very well adapted to this particular case. The results presented validate the choice of this method for a specialised programming environment.

关键词： Robot off-line programming Inverse kinematics

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TASK LEVEL off-line programming SYSTEM FOR ROBOTIC ARC-WELDING - AN OVERVIEW

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JOURNAL OF MANUFACTURING SYSTEMS 1988年第4期7卷 293-306页

作者： RUBINOVITZ, J WYSK, RA Technion - Israel Institute of Technology Haifa Israel Pennsylvania State University University Park Pennsylvania USA

A structure for a CAD based, task level off-line programming system for robotic arc welding is presented. The welding task is specified using a solid modeling CAD system. A model of the robot motion capabilitie are used to plan the path of motion between weld seams for the robotic welding process. The output of the system, in the form of a robot level program, is transferred to a specific robot controller using an interface module, which was also created for this research. An example welded part is used to show that the system can enhance the productivity and efficiency of robotic arc welding, for both low batch and high batch production.

关键词： Robotics off-line programming Arc Welding CAD CAM Productivity

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Study on path planning and compensation of off-line programming for thick walled curve welding

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China Welding 2015年第4期24卷 69-73页

作者：陈洪堂李海超高洪明吴林 School of Mechanical Engineering University of Jinan Jinan 250022. State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin 150001.

Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programming welding path was decreased due to the deviation between the off-line planned welding path and the actual welding path. A path planning algorithm and a path compensation algorithm of multi-layer and multi-pass curve welding seam for off-line programming of robot welding are developed in this paper. Experimental results show that the robot off-line programming improves the welding efftcieney and precision for thick walled curve welding seam.

关键词： robot welding off-line programming path planning path compensation

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Registration between Robot and Workpiece in Virtual Environment for off-line programming 42

Registration between Robot and Workpiece in Virtual Environm...

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42nd Annual Conference of the IEEE-Industrial-Electronics-Society (IECON)

作者： Hwang, Myun Joong Chung, Seong Youb Lee, Kyungno Song, Il Jae Son, Hyoung Il Korea Natl Univ Transportat Chungju South Korea Wintech Automat Suwon South Korea Chonnam Natl Univ Gwangju South Korea

ISBN: (纸本)9781509034741

Robot has been widely used for industrial application in the flexible manufacturing system. The time-consuming teaching process by skilled engineers is inevitable to teach real robot manipulators for generating the robot program and recording locations which the robot should follow for the given task. The off-line programming (OLP) method is proposed to generate the robot program from CAD format data without the teaching process. It needs a registration process to find the translational and rotational relations between the reference frame of real robot and the reference frame in CAD format data. This paper presents the simple registration method between real robot and workpiece in virtual environment. Also a method to assign position and orientation of TCP (Tool Center Point) in real robot is presented when the target point is selected in the virtual environment by the user. The proposed methods are evaluated by the simulation with the commercial industrial robot for placing tool on the surface of the workpiece which is given in STL format data.

关键词： Industrial Robot CAD (Computer Aided Design) Robot programming off-line programming

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