弧焊机器人任务级离线编程系统的设计

Design of Task-level OLP System for Arc Welding Robot

关键词:  弧焊机器人  离线编程  任务级  专家系统

Key words:  arc welding robot  OLP  task-level  expert system

摘要:

提出了一种弧焊机器人任务级离线编程系统的结构,包括建模器、任务编程器、任务规划器和机器人运动仿真器等四个基本模块。提出了一种焊接结构的特征分类方法,并且在AutoCAD14基础上,利用ObjectARX技术开发了与AutoCAD14风格一致的焊接结构特征建模器。同时,在AutoCAD14中,开发了用户使用方便的任务编程器。提出了采用基于范例与规则混合的多专家系统协同技术来实现任务规划器。在3DSMAX基础上,利用Max Script语言快速地开发了基本的机器人运动仿真器。仿真试验表明,对于部分工件,利用作者的系统,可以实现高效的任务级离线编程工作。

Abstract:

A structure of task-level OLP system is presented for arc welding robot, which consists of a modeler, a task programmer, a task planner and a robot motion simulator. We put forward a kind of classification for the features of welded structures, and on the foundation of AutoCAD14, using the technique of ObjectARX, develop the feature modeler for welded structures whose style is identical to the one of AutoCAD14. The synergetic expert system based on the combination of cases and rules is introduced to develop the task planner. Moreover, on the basis of 3DS MAX software, the essential robot motion simulator is developed with the language of MaxScript. The experiment shows that for some weld parts, efficient task-level OLP can be accomplished with our system.