【文章內(nèi)容簡介】 and crawl along type...etc. by mark type, many joints by mark type, surface of sphere by mark type, pillar noodles, according to different use still at continuously development is many robots of joint types of the mimicry person39。s arm function to weld what robot can adopt a different structure form according to the applied situation of dissimilarity, but use at most currently, this because the arm vivid of many joint type robots is the biggest, it can make space position and carriage of Han gun adjust into arbitrarily the status weld by satisfying a speak, the joint of robot is many more, the freedom degree is also many more, the joint redundancy degree is big more, and the vivid is good more。But also go against the sitting of kinetics control of marking the transformation and each joint position for robot to bring plexity at the same weld to usually need in the process with the space right angle sit to mark the Han on the representative work piece to sew position conversion for the Han gun carry the space position and carriage of department and pass robot again go against the kinetics pute a conversion for to the control of robot each joint angle position, but the solution of this transformation process usually isn39。t unique, the redundancy degree is big, solve more many select by examinations the steady that the quite the cheese solution welds to exercise in the process to the robot very treatment of system to this problem of the robot control doesn39。t exert a homology.Is general to e to speak, have 6 controls request of positions and space carriages that the robots of joints basically can satisfy a Han gun, 3 among those freedoms degree(XYZ) space position used for controling a Han gun to carry a department, another 3 freedom degrees(ABC) are used for the space carriage that controls a Han , currently weld robot majority as 6 joint types.For some weld situation, work piece because of leading big or the space is several what the shape is too plicated, make the Han gun of welding the robot can not arrive appointed Han to sew position or Han gun carriage, have to pass the freedom degree of the way increment robot of increasing 1~3 exterior stalks at this have two kinds of way of doings:One is the orbit that the robot Be packed to to move small car or Dragon gate up, the homework space of extension robot。Two is to let the work piece move or turn, make work piece up of weld the homework space that the part gets into have of adopt two kinds of abovementioned ways at the same time, let the welding of work piece part and robots all be placed in the best weld position.Weld the plait distance of robot method currently still with online show and teach a way(Teachin) is lord, but wove the interface ratio of distance machine to have many improvements in the past, particularly is the adoption of LCD sketch monitor and make and weld the plait distance of the robot interface lately gradually friendly, operation more robot plait distance Han39。s sewing the key point on the track to sit to mark position still have to pass to show to teach the way how to obtain, then deposit the sport instruction of sews track to some Hans of plicated shapes to say, have to cost a great deal of time to show to teach and lowered the use efficiency of robot thus and also increased the labor strength of weaving the distance method that solves currently includes 2 kinds:One is show to teach a plait distance just rough obtain a few Hans to sew a few keys on the track to order, then spread a feeling machine(usually is give or get an electric shock Hu to spread feeling machine or laser sense of vision to spread a feeling machine) through the sense of vision of welding the robot of auto follow the actual Han sew a this way still cans not get away from to show to teach a plait distance,this way cans ease to show the strength of teaching the plait distance to some extent and raises to weave a distance because of the characteristics of electricity Hu Han, the sense of vision of robot spreads a feeling machine be not sew forms to all apply to all Hans.Two is the way that adopts a pletely offline plait distance, make the robot weld drawing up of procedure and Han to sew a track to sit to mark adjusting of obtaining of position, and procedure to try all to pute in a set to independently plete on board, don39。t need participation of offline plait distance as early as several years ago have, just in order to being subjected to restriction of the calculator function at that time, offline plait distance software with text originally way is lord, wove a distance member to need to acquaint with the all instruction systems and phrasing of robot, also needed to know how made sure that the space position that the Han sews a track sits a mark, therefore, wove a distance work to not and easily save with exaltation and calculator of the calculator function 3D sketch technical development, present robot offline plait distance system majority can under the 3D sketch environment movement, the plait distance interface amity, convenience, and, obtaining Han to sew a sitting of track to mark position usually can adopt the way of conjecture show to