CN105945942A - Robot off line programming system and method - Google Patents

Abstract

The invention discloses a robot off line programming system and method. The robot off line programming method includes: importing a robot kinematic constraint condition, a three-dimensional model of a working object of a robot, three-dimensional models of the robot and a tooling thereof into a robot three-dimensional virtual environment; performing curve discretization on extracted robot motion path graph primitives and pose information thereof, extracting path points, and generating a robot motion path; performing robot motion simulation and collision detection; modifying the path points according to a given definition on basis of the result of robot motion simulation and collision detection, generating a new robot motion path and pose, and displaying the new robot motion path and pose in an operation system; acquiring a feasibility result and generating a robot executable file; and communicating with the robot, importing the robot executable file into a robot controller, and realizing robot motion control. The robot off line programming system and method can effectively simplify operations, and improve the efficiency of robot programming work.

Description

A robot offline programming system and method

technical field

The present invention relates to the field of robots, and in particular to a robot off-line programming system and method.

Background technique

At present, there are mainly three types of motion input and control methods for industrial robots:

One is teaching and reproduction, including two stages of "teaching" and "reproduction". In the teaching phase, the expected movement of the robot is previewed in some way, and the positions and attitudes of some key path points of the robot are stored and memorized; Make up, and move to each path point in turn. There are three ways of teaching: 1) The most common is to use the teaching box, that is, the operator manipulates the teaching box to send instructions to drive the robot to a series of expected positions. This teaching method is often used in tasks with relatively simple paths such as robot welding and handling. 2) The second teaching method is dragging, that is, the operator directly holds the end of the robot or drags the robot to the desired position through the wrist force sensor. Spraying robots can generally be dragged directly for teaching, but most industrial robots cannot be dragged directly because they only have motion control but no force control. However, if a six-dimensional force sensor is installed at the end, motion control based on force sensor information may also achieve indirect drag and teaching. 3) The third teaching method is indirect dragging. With the help of motion mapping or other auxiliary equipment (including teaching equipment with the same configuration, degree of freedom and size as the controlled robot), the robot is dragged or guided. teach. The operator manipulates the auxiliary teaching equipment to move according to the desired trajectory, and memorizes its waypoints, and finally maps the teaching movement to the movement of the robot. Compared with the jog teaching based on the teaching box, the drag teaching is more convenient to use, easier to achieve complex poses, more adaptable, and can be used for spraying and other operations. In short, the teaching and reproduction control method requires the operator to visit the site in person, which takes up resources, has low efficiency, high work intensity, low precision, and personal danger. Costs also increase when resorting to peripheral equipment.

The second motion input and control method is robot programming similar to NC programming, that is, using the language of the robot to compile the robot's operations in the form of scripts. This method is not intuitive and requires repeated corrections, so it is not efficient.

The third motion input and control method is offline programming, establishing a robot simulation system, and planning the robot's motion path offline. This method is carried out offline without going to the site, so it has high efficiency, strong adaptability and flexibility.

The Chinese invention patent "Robot Offline Teaching Method" (publication number CN102004485A) discloses a method for realizing off-line programming of a robot through a computer. This method establishes a three-dimensional model in the computer, and generates motion trajectories from the interpolation points between virtual tool teaching points. The virtual teaching point of this invention is a setting method, and the position and posture of the teaching point must be manually set. Therefore, it takes a lot of time to obtain the data of the teaching point. In addition, the attitude obtained by the teaching is only recognized by the naked eye, which is generally not the best attitude data. In the face of complex surface path planning, such as laser welding, spraying, grinding and other industrial applications, This method is facing obsolescence.

The Chinese invention patent application "Method for Realizing Off-line Programming of Industrial Robots Based on 3D Modeling Software" (publication number CN103085072A) discloses a method for realizing off-line programming of industrial robots based on 3D modeling software. The method is in the 3D modeling software environment Next, the spatial line data and the spatial matrix data of the 3D model are obtained, the robot motion trajectory and the geometric mathematical model are established, and the offline programming of the virtual robot motion control system is realized. The implementation of this method has the following deficiencies: 1) It needs to input the data of space curve and robot control, and it lacks the functions of independent drawing of trajectory, independent modeling of model and virtual construction of virtual simulation control system with the help of the function of 3D modeling software itself. The planning path has certain limitations, and the feasibility of the path cannot be quickly verified; 2) In the discretization of the curve path point, it is difficult to guarantee the accuracy of the curve discretization by specifying the number of points; 3) The attitude of the path point lacks the ability to fuse the surrounding entities Information; 4) lack of pose visualization function and path point self-correction function; 5) lack of diversity of robot models, no real-time communication connection function to realize real-time data transmission.

Contents of the invention

In order to solve the above technical problems, the present invention provides a robot offline programming system and a robot offline programming method capable of automatically planning, generating and verifying motion paths.

The robot off-line programming system provided by the present invention includes:

A constraint setting module for setting robot kinematic constraints;

An acquisition module for acquiring robot working objects, robots and their tooling 3D models, robot motion path primitives and their pose information;

And a terminal with an operating system for building a robot's 3D virtual environment; and importing robot kinematic constraints, the 3D model of the robot's working object, and the 3D model of the robot and its tooling into the robot's 3D virtual environment; Carry out curve discretization of motion path primitives and their pose information, extract path points, and generate robot motion trajectories, then perform robot motion simulation and collision detection, and modify path points according to the given definition according to robot motion simulation and collision detection results Form the new robot motion track and posture and display it on the operating system, obtain the feasible results and generate the robot executable file, communicate with the robot, import the robot executable file into the robot controller, and realize the robot motion control.

Preferably, the acquisition module includes an API interface of 3D solid modeling software, and the 3D virtual environment of the robot uses the API interface function of the 3D solid modeling software to realize 3D modeling of the robot operating system.

Preferably, the three-dimensional solid modeling software includes a basic primitive model, and the basic primitive model includes four basic primitives of straight lines, arcs, Bezier curves and splines and their associated entities;

From the acquisition module, the API interface function of the 3D solid modeling software extracts the robot motion path primitive and its pose information, generates the basic primitive model and automatically selects the motion trajectory, and transforms the above basic primitive model And the trajectory is transformed into the three-dimensional virtual environment of the robot, and then the subsequent curve discretization is performed, and the way points are extracted.

Preferably, the pose information is visually displayed on the terminal in the form of three-dimensional coordinate axes through the Cartesian coordinate system established on the extracted path points as discrete points with a path having positions and postures.

Preferably, when performing robot motion simulation and collision detection, the discrete points and robot kinematic constraints, the three-dimensional model of the robot's work object, the three-dimensional model of the robot and its tooling are carried out in the robot's three-dimensional virtual environment for collision detection to obtain If the trajectory and posture of the robot collide, the path point will be automatically modified to form a new trajectory and posture of the robot. If there is no collision, the original trajectory and posture of the robot will be retained as the new trajectory and posture of the robot.

Preferably, the forward and reverse motion of the robot is calculated according to the new robot motion trajectory and posture, and converted into the robot's target control program and data to generate a robot executable file.

In addition, the present invention also provides a corresponding robot off-line programming method, the steps are as follows:

S1. Set robot kinematic constraints; obtain robot working objects and 3D models of robots and their tooling; obtain robot motion path primitives and their pose information;

S2. Construct a three-dimensional virtual environment for the robot;

S3. Load the kinematic constraint conditions of the robot set in step S1, the obtained robot working object, the robot and its tooling three-dimensional model, the obtained robot motion path primitives and their pose information into the three-dimensional virtual environment of the robot;

S4. Perform curve discretization processing on the extracted robot motion path primitives and their pose information to obtain path points, and generate robot motion trajectories in the robot's three-dimensional virtual environment;

S5. Carry out robot motion simulation and collision detection according to the robot motion trajectory, and the system automatically judges whether there is interference;

If so, proceed to step S6;

If not, then enter step S7;

S6. Modify the path point according to the definition given in advance to regenerate the trajectory of the robot, and then return to step S5;

S7. Displaying and judging the feasibility of the trajectory of the robot. If it is not feasible, perform manual modification. If feasible, generate a feasibility result and generate a robot executable file;

S8. Communicating with the robot, importing the executable file of the robot into the robot controller to realize the motion control of the robot.

The robot offline programming system and the corresponding robot offline programming method provided by the present invention construct a three-dimensional virtual environment of the robot in the operating system of the terminal and import robot kinematics constraints, three-dimensional models of robot working objects, The 3D model of the robot and its tooling is used to discretize the extracted motion path primitives and pose information of the robot, extract the path points, generate the robot motion trajectory, modify the path points according to the given definition to form the best posture and Display on the operating system, then perform robot motion simulation and collision detection, obtain feasible results and generate robot executable files, communicate with the robot, import motion codes into the robot controller, and realize robot motion control. The solution of the invention can realize the automatic programming and simulation detection of the complex motion curve path of the robot, and derive the robot motion code to realize the whole automatic robot motion control, which has the advantages of simple operation and high work efficiency.

Description of drawings

Fig. 1 is the workflow schematic diagram of the system of the present invention;

Fig. 2 is the structural composition block diagram of system of the present invention;

Fig. 3 is a schematic diagram of the three-dimensional virtual environment of the robot of the system of the present invention.

detailed description

The solution of the present invention will be further described in detail below in conjunction with the embodiments and drawings, but the implementation of the present invention is not limited thereto.

The invention provides a robot off-line programming system, comprising:

A constraint setting module for setting robot kinematic constraints;

An acquisition module for acquiring robot working objects, robots and their tooling 3D models, robot motion path primitives and their pose information;

And a terminal with an operating system for building a three-dimensional virtual environment for robots;

The specific workflow of the system is to import the robot kinematics constraints, the 3D model of the robot's work object, the 3D model of the robot and its tooling into the robot's 3D virtual environment, and curve the extracted robot motion path primitives and their pose information. Discretization, extracting path points, generating robot motion trajectory, and then performing robot motion simulation and collision detection. According to the robot motion simulation and collision detection results, modify the path points according to the given definition to form a new robot motion trajectory and posture and operate The system shows that the feasibility results are obtained and the executable file of the robot is generated, communicated with the robot, and the executable file of the robot is imported into the robot controller to realize the motion control of the robot.

Preferably, the acquisition module includes an API interface of 3D solid modeling software, and the robot 3D virtual environment adopts the API interface function of 3D solid modeling software to realize 3D modeling of the robot operation system. Specifically, it is to use the API interface function of the 3D solid modeling software to realize the 3D modeling of the robot operation system, including the design and layout of the robot body, the work object, the surrounding environment and its geometric model graphics processing, the definition of the work path and Modification, object outline extraction, to achieve the matching of the virtual simulation environment and the actual working environment. In this way, the existing mature software can be directly applied to the system, which greatly improves the compatibility and stability of the system, and is convenient for users to maintain and replace.

Wherein, preferably, the 3D solid modeling software includes a basic primitive model, and the basic primitive model includes four basic primitives of straight lines, arcs, Bezier curves and splines and their associated entities; From the acquisition module, the API interface function of the 3D solid modeling software extracts the robot motion path primitive and its pose information, generates the basic primitive model and automatically selects the motion trajectory, and transforms the above basic primitive model And the trajectory is transformed into the three-dimensional virtual environment of the robot, and then the subsequent curve discretization is performed, and the way points are extracted. In this specific embodiment, the use of related primitives for modeling can basically meet the generation requirements of most complex trajectories. In addition, since the follow-up is to use discretized curves for simulation and collision testing, the configuration of the entire system The requirements are greatly reduced, and at the same time, due to the simplification of the calculation, the processing efficiency of the system is greatly improved, and the selection density of discrete points can be selected according to the level of the system configuration, so that it can adapt to various simulation environments.

Preferably, the pose information is intuitively displayed on the terminal in the form of three-dimensional coordinate axes through the Cartesian coordinate system established on the extracted path points as discrete points with a path and position and posture. This enables visualization of the motion path and facilitates subsequent operations.

Among them, preferably, when performing robot motion simulation and collision detection, the discrete points and robot kinematic constraints, the three-dimensional model of the robot's work object, the three-dimensional model of the robot and its tooling are carried out in the three-dimensional virtual environment of the robot The trajectory and posture of the robot are obtained through collision detection. If there is a collision, the path point will be automatically modified to form a new trajectory and posture of the robot. If there is no collision, the original trajectory and posture of the robot will be retained as the new trajectory and posture of the robot.

Wherein, preferably, the forward and reverse motion of the robot is calculated according to the new robot motion trajectory and posture, and converted into the target control program and data of the robot to generate the executable file of the robot.

The present invention also provides a corresponding robot off-line programming method, the steps are as follows:

S1. Set robot kinematic constraints; obtain robot working objects and 3D models of robots and their tooling; obtain robot motion path primitives and their pose information;

S2. Construct a three-dimensional virtual environment for the robot;

S3. Load the kinematic constraint conditions of the robot set in step S1, the obtained robot working object, the robot and its tooling three-dimensional model, the obtained robot motion path primitives and their pose information into the three-dimensional virtual environment of the robot;

S4. Perform curve discretization processing on the extracted robot motion path primitives and their pose information to obtain path points, and generate robot motion trajectories in the robot's three-dimensional virtual environment;

S5. Carry out robot motion simulation and collision detection according to the robot motion trajectory, and the system automatically judges whether there is interference;

If so, proceed to step S6;

If not, then enter step S7;

S6. Modify the path point according to the definition given in advance to regenerate the trajectory of the robot, and then return to step S5;

S7. Displaying and judging the feasibility of the trajectory of the robot. If it is not feasible, perform manual modification. If feasible, generate a feasibility result and generate a robot executable file;

S8. Communicating with the robot, importing the executable file of the robot into the robot controller to realize the motion control of the robot.

In addition, the specific implementation of the method can be realized based on the 3D solid modeling software SolidWorks, that is, the 3D solid modeling software can use SolidWorks, and the specific operation process is as follows:

1. Establish a complete robot and workpiece model (which can be imported from outside) in the 3D modeling software SolidWorks, define the relative positional relationship between the robot and the workpiece and the constraints of the robot's workspace;

2. Use the primitive extraction function to select the weld trajectory on the workpiece model to complete the definition of the operation path;

3. Extract the information of motion path primitives and associated entities, and display them in the display area;

4. Use the SolidWorks API function to obtain the pose information of the path point, and use the data conversion module to convert the pose information of the path point into the robot workspace;

5. Use the robot simulation module to import discrete path point information into the simulation control system, and perform three-dimensional graphics motion simulation on the results of task planning and path planning to simulate the completion of the entire operation;

6. Use the posture adjustment module to modify the position and posture of each path point required to meet the requirements of the robot's working posture, so as to optimize the robot's motion performance and minimize energy consumption;

7. Use the display function to express the pose information of each path point, which is intuitive and easy to modify;

8. Use the post-processing module to convert the correct operation program into the control program and data of the target robot, generate a specific robot executable file, and input it into the robot controller to achieve precise control of the robot.

A kind of robot off-line programming system and method provided by the present invention has been introduced in detail above. In this paper, specific examples are used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the present invention. method and its core idea. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims (7)

1. a robot Off-line Programming System, it is characterised in that including:

For setting the constraints setting module of robot kinematics's constraints；

For obtaining robot work object and robot and frock threedimensional model thereof and robot motion path Pel and the acquisition module of posture information thereof；

And for building the terminal with operating system of robot three-dimensional virtual environment；And at machine In people's three-dimensional virtual environment import robot kinematics's constraints, the threedimensional model of robot work object, Robot and the threedimensional model of frock thereof, to the robot motion path pel extracted and posture information thereof Carry out curve discretization, extract path point, generate robot motion's track, carry out robot motion afterwards Emulation and collision detection, according to robot motion's emulation and collision detection result, according to determining of having been given by Justice-reparation changes path point and is formed in new robot motion's track and attitude operating system display, and obtaining can Row result also generates robot executable file, with robot communication, is led by robot executable file Enter robot controller, it is achieved motion planning and robot control.

2. robot Off-line Programming System as claimed in claim 1, it is characterised in that described acquisition mould Block includes the api interface of d solid modeling software, and described robot three-dimensional virtual environment uses three-dimensional real The api interface function of volume modeling software, it is achieved the three-dimensional modeling of robot manipulating task system.

3. robot Off-line Programming System as claimed in claim 2, it is characterised in that

Described d solid modeling software includes that element figure model, described element figure model include directly Line, circular arc, Bezier and four kinds of element figures of SPL and associated entity thereof；

From acquisition module, the api interface function of d solid modeling software extracts robot motion path Pel and posture information thereof, by generating element figure model and automatically selecting generation movement locus, pass through Coordinate Conversion, is transformed into above-mentioned element figure model and movement locus in robot three-dimensional virtual environment Carry out follow-up curve discretization again, and extract path point.

4. robot Off-line Programming System as claimed in claim 1, it is characterised in that described pose is believed Cease the cartesian coordinate system set up in the path point by extracting, with the formal intuition of 3-D walls and floor The discrete point with path with position and attitude it is shown as in terminal.

5. robot Off-line Programming System as claimed in claim 4, it is characterised in that carrying out machine When people's motion simulation and collision detection, by described discrete point and robot kinematics's constraints, machine The threedimensional model of the threedimensional model of people's target, robot and frock thereof is in robot three-dimensional virtual environment In carry out collision detection and obtain robot motion's track and attitude, if collision, the most automatically amendment path point-shaped Robot motion's track of Cheng Xin and attitude, if not colliding, then retain former robot motion's track and attitude As new robot motion's track and attitude.

6. robot Off-line Programming System as claimed in claim 5, it is characterised in that according to described newly Robot motion's track and attitude solve the motion of robot forward and reverse, and be converted into the target control of robot Program and data, generate robot executable file.

7. a robot off-line programming method, it is characterised in that step is as follows:

S1, setting robot kinematics's constraints；Obtain robot work object and robot and work thereof Dress threedimensional model；Obtain robot motion path pel and posture information thereof；

S2, structure robot three-dimensional virtual environment；

S3, the robot kinematics's constraints by setting in step S1, the robot work object of acquisition It is loaded into robot and frock threedimensional model, the robot motion path pel of acquisition and posture information thereof Robot three-dimensional virtual environment；

S4, the robot motion path pel extracted and posture information thereof are carried out curve sliding-model control, Obtain path point, and in robot three-dimensional virtual environment, generate robot motion's track；

S5, carrying out robot motion's emulation and collision detection according to robot motion's track, system is sentenced automatically Break and whether produce interference；

The most then enter step S6；

If it is not, then enter step S7；

S6, according to be given in advance definition amendment path point regenerate robot motion's track, then return Return step S5；

S7, show and judge the feasibility of robot motion's track, if infeasible, carry out manual operation and repair Change, if feasible, generate feasibility result and generate robot executable file；

S8 and robot communication, import robot controller by robot executable file, it is achieved machine People's motor control.