Research on the Establishment and Approximation Method of a KUKA Robot Workpiece Coordinate System
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.
KUKA robotworkpiece coordinate systemrobot poseautomotive interior partswater cutting
NETL
NSTL
万方数据
