Open AccessResearch on the Establishment of Robot Workpiece Coordinate System and Its Approximation Method
Author(s) -
Tao Zhang
Publication year - 2021
Publication title -
iop conference series. earth and environmental science
Language(s) - English
Resource type - Journals
eISSN - 1755-1307
pISSN - 1755-1315
DOI - 10.1088/1755-1315/714/3/032074
Subject(s) - cartesian coordinate robot , coordinate system , robot , actuator , position (finance) , arm solution , kinematics , software , inverse kinematics , robot calibration , robot kinematics , ellipsoidal coordinates , polar coordinate system , computer science , engineering , industrial robot , control theory (sociology) , artificial intelligence , mathematics , mobile robot , geometry , physics , control (management) , finance , classical mechanics , programming language , economics
This paper studies the coordinate system of the KUKA robot workpiece. According to the mathematical model of the robot system workpiece coordinate system, with the help of the CATIA software, the workpiece coordinate system is established. Through the solutions of the direct and inverse kinematics problems of the robot, the method of approaching the workpiece coordinate system is obtained. By setting the angles of A1, A2 and A3, the robot end actuator can reach the corresponding position of the workpiece coordinate system, and by setting the angles of A4, A5 and A6, the robot end actuator and the workpiece coordinate system can be adjusted to form the attitude relationship. Finally, the feasibility of the above method is verified by applying the program of KUKA robot to cut automobile ceiling panel. The results show that the robot workpiece coordinate system can be established offline by using 3D CAD software, by adjusting the angle of six axes of the robot, the robot end actuator can reach the designated position of the workpiece coordinate system and get the required attitude relationship.