The grinding process has high accuracy requirements on the robot trajectory .Traditional programming method for indus-trial robot teaching is unable to meet requirements of production .To overcome this problem , taking Visual C++as the development platform, based on MFC framework and OpenGL graphics library interface , the robot off-line programming and simulation system was built, and the functions of robot off-line teaching, program editing and the establishment of track target point database were achieved . Besides, the method of generating the robot 's trajectory based on the multilevel sectioning technique of workpiece model STL file was studied, the homogeneous matrix of the robot 's locus and position was obtained by calculating the intersection position .Finally, the robot's grinding track parameters were imported into the offline programming system to realize the visual simulation of the robot grinding process.%打磨加工对机器人运动轨迹精度要求很高.针对常规的在线示教编程不能满足打磨加工精度的问题,以Visual C++为开发平台,基于MFC框架以及OpenGL图形库接口搭建机器人离线编程仿真系统,实现机器人离线示教、 程序编辑、建立轨迹目标点数据库等功能.通过基于工件模型STL文件分层切片生成机器人运动轨迹的方法,求得交点的姿态并得到机器人加工轨迹位姿的齐次矩阵,最后将获得的机器人打磨轨迹参数导入离线编程系统中,编程实现机器人打磨加工的可视化仿真.
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