CAJ | 학술논문

工业机器人主要采用人工示教、运动再现的工作方式。为减轻人工示教的工作量，开发了一套机器人离线路径生成系统。通过SolidWorks二次开发，获取操作对象上的运动路径。通过位姿变换，将运动路径上的点转化为机器人末端执行器的位姿。经机器人专用仿真软件仿真表明，该离线示教方法能正确指导机器人实现指定运动。
공업궤기인주요채용인공시교、운동재현적공작방식。위감경인공시교적공작량，개발료일투궤기인리선로경생성계통。통과SolidWorks이차개발，획취조작대상상적운동로경。통과위자변환，장운동로경상적점전화위궤기인말단집행기적위자。경궤기인전용방진연건방진표명，해리선시교방법능정학지도궤기인실현지정운동。
Manual teaching and playback are the main operation modes of industrial robots. To reduce the burden of manual teaching, an off-line path generation system is developed. The motion path of the operating object is obtained by a secondary development on SolidWorks. It is then transformed to the configuration of the robot end effector. Simulation shows that the proposed offline teaching method can guide the robot through a given path correctly.