分类: 物理学 >> 普通物理:统计和量子力学,量子信息等 提交时间: 2017-05-02
摘要: It is crucial to plan trajectory in robotic finishing with complex surface in manufacturing industry. While traditional robot programming for grinding is still time consuming and not cost-effective generally. This paper focuses on automatic trajectory planning based on the cutter location(CL) data generated in CAD/CAM system. It explores a suitable way to convert the G code which obtained from CL data to robot program directly through Visual Studio, how to automatically extract motion data from G code, generate the KUKA robot paths/programs in PC . In addition, simulation of robot’s kinematics models are implemented in MATLAB to verify the robot reachability. An experiment in Unigrahics, MATLAB and real robot illustrates the grinding trajectory composed of CL data is appropriate .