为解决机器人在复杂路径作业时的离线编程，提出了用仿真结果提取机器人运动方程逆解的方法。首先以AutoCAD平台提取作业路径各控制点信息，运用ADAMS平台对机器人进行运动仿真。然后通过仿真结果导出机器人各关节的转角函数，并利用关节转角函数产生机器人的控制程序。最后用MOTOMAN-UP6机器人和相关软件完成了机器人切割作业的模拟实验，并通过实验证明了上述的观点和方法适用于目前各种工业机器人的离线编程。
Abstract
In order to accomplish the offline programming during the robot carrying out complexpath procedure, the paper proposed a method that can obtain inverse solution of the kinematic equation based on simulation results. The information of each knot on robot work path was extracted with AutoCAD, and simulated the robot’s movement with ADAMS. From the results of the simulation, we could derive the angle function for each joint of the robot. And then, we could generate a control program from these joints’ angle functions. With MOTOMANUP6 robot and related softwares, we proved the correctness and effectiveness of the proposed perspective by cutting operations simulation. The perspective and method for offline programming are suitable for a variety of industrial robot.
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基金
收稿日期：2009-03-16修回日期：2009-08-27作者简介：焦恩璋(1954—)，副教授，研究方向为机器人学、机电一体化、计算机图形学。Email: jez@njfu.com.cn。引文格式：焦恩璋,陈美宏. 图形信息与机器人轨迹控制的研究[J]. 南京林业大学学报:自然科学版,2009,33(6):113-116.
