三维可视化的喷涂机器人离线轨迹规划系统

摘要

The traditional robot's paths can only be generated by teaching which is time-consuming and cannot produce the best trajectory. In order to overcome these shortcomings and improve the coating quality and efficiency, through studying of gun modeling , methods of path planning and the simulation of spraying process,the structure of the off-line trajectory planning and simulation system has been established. Based on these researches, adopting MFC and OpenGL, a complete off-line path planning and simulation system has been developed. This system can generate correct trajectories according to different surfaces and simulate the trajectory with 3D visualization.%传统的喷涂机器人采用人工示教的方式生成喷涂轨迹,该方法依赖工人经验,规划时间长,且不能产生最佳轨迹.为克服这些缺陷,提高喷涂机器人的喷涂质量与喷涂效率,文中通过对喷涂机器人喷涂过程建模、喷涂路径规划、喷涂过程仿真进行深入的研究与分析,建立了喷涂机器人离线轨迹规划与仿真系统整体框架.在此基础上,采用MFC和OpenGL开发了完整的离线轨迹规划与仿真系统,该系统能够针对不同的工件生成正确的轨迹,并能够进行三维可视化的仿真及效果显示.