一种KUKA机器人工件坐标系的建立及逼近方法研究
Research on the Establishment and Approximation Method of a KUKA Robot Workpiece Coordinate System
郭巨宝1
作者信息
- 1. 辽宁开放大学,辽宁沈阳 110034;辽宁装备制造职业技术学院,辽宁沈阳 110161
- 折叠
摘要
基于机器人系统工件坐标系的定义,利用CATIA软件相关功能以及产品数学模型,建立KUKA机器人工件坐标系.通过机器人运动学正问题和逆问题分析求解,得到逼近工件坐标系的方法,即设定A1、A2、A3 的角度而使机器人末端执行器到达工件坐标系的相应位置,设定A4、A5、A6 的角度调整末端执行器与工件坐标系,形成姿态关系.最后,通过编写KUKA机器人切割汽车顶棚内饰板用户程序,验证了以上方法的可行性.研究结果表明:利用三维软件,可以离线建立机器人工件坐标系,通过调节机器人六轴的角度,使机器人末端执行器达到工件坐标系的指定位置并得到所需的姿态关系.
Abstract
Based on the definition of the robot system workpiece coordinate system,utilizing the relevant functions of CATIA software and product mathematical models,establish the KUKA robot workpiece coordinate system.Through the solutions of the direct and inverse kinematics problems of the robot,the method of approaching the workpiece coordinate system is obtained.By setting the angles of A1,A2 and A3,the robot end actuator can reach the corresponding position of the workpiece coordinate system,and by setting the angles of A4,A5 and A6,the robot end actuator and the workpiece coordinate system can be adjusted to form the attitude relationship.Finally,the feasibility of the above method is verified by applying the program of KUKA robot to cut automobile ceiling panel.The results show that the robot workpiece coordinate system can be established offline by using 3D software.By adjusting the angle of six axes of the robot,the robot end actuator can reach the designated position of the workpiece coordinate system and get the required attitude relationship.
关键词
KUKA机器人/工件坐标系/机器人位姿/汽车内饰件/水切割Key words
KUKA robot/workpiece coordinate system/robot pose/automotive interior parts/water cutting引用本文复制引用
出版年
2024
NETL
NSTL
万方数据