工作区
控制器(灌溉)
计算机科学
工业机器人
工程类
机械加工
机器人
运动学
软件
控制工程
弹道
灵活性(工程)
编码(集合论)
数控
轨迹优化
机械工程
人工智能
集合(抽象数据类型)
物理
统计
生物
程序设计语言
经典力学
数学
农学
天文
作者
Jia-Bin Pan,Zhongtao Fu,Jiahao Xiong,Xiaoyu Lei,Ka Zhang,Xubing Chen
标识
DOI:10.1007/s00170-021-08082-3
摘要
Compared with multi-axis CNC machines, industrial robots provide a new solution to complex surface machining due to the significant advantages of cost-effectiveness, good flexibility, and large workspace. However, the programming for robotic machining trajectory is complex and time-consuming, due to the limitations for robots to execute G-Code command generated via the CAD/CAM post-processing techniques. To this end, the paper proposed an effective methodology to generate the robotic machining trajectory by the conversion from G-Code commands for practical operations, in which the robotic machining system and the associated kinematic analysis are implemented using ABB IRB 2600 robot, as well as the interpretation of G-Code and robot control commands. The conversion relationship from G-Code to robot control commands is achieved with the information of the CL point parameters and machining configuration parameters. One off-line programming software, RobMach, is developed to simulate and validate the effectiveness of the robotic machining trajectory by loading G-Code file of one blade milling, and the generated robot control program can be directly sent to the robot’s controller for achieving the robotic machining capabilities, which can be extended to the machining operations of different industrial robots.
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