CAD A Planning Method for Robot Position and Tracking Path Using CAD Information of Object

摘要

An input processing unit for analyzing a plurality of point position data stored in an STL electronic file of an object and extracting position information and a vertical vector of a point selected by the user; A robot synchronizing unit for calculating a relation between an STL reference coordinate system and a robot reference coordinate system using coordinates of an actual robot; A tracking path operation unit for calculating a tracking direction and a path between two points indicating start and end and extracting a plurality of point coordinates between two points; A coordinate transformation unit for transforming coordinates and directions of the robot reference coordinate system; And an output unit for transmitting robot coordinate information to an actual robot controller. The present invention relates to a robot position and tracking path generation system using a CAD shape of an object, Calculating a relationship between a reference coordinate system of the actual robot and a reference coordinate system of the STL data; Generating a plane using the vertical vector information and determining a tracking direction; Extracting an intersection between the generated plane and a plurality of triangles on the STL; Rearranging a plurality of extracted intersections in order; And a step of deriving a position coordinate and a vertical vector by extracting a tracking coordinate list after calculating the entry angle of the robot tool and the position of the robot with respect to each point. Generating method.