基于PMAC的工业机器人示教再现程序的研发

摘要

针对目前工业机器人编程系统存在的扩展性、可编程性不高及对环境感知能力较弱的问题,基于IPC+ PMAC的开放性结构,完成了符合6自由度机器人工作要求的示教再现的编程的研究与开发,并详细介绍示教编程中的程序流程及具体实现途径,用C#进行了程序设计.%Aiming at the present industry robot programming system had some problems,such as the lower expansibility and programmability,as well as the weaker environment perception ability,the research and development of teach and playback programming required by operation of a six degrees of freedom (6-DOF) robot was completed based on the IPC + PMAC open structure.The programming procedure and practical implement method of the teaching programming are described in detail,and the programming design is also performed with C#.