ABB工业机器人虚拟仿真与离线编程

绪论———工业机器人离线编程与虚拟仿真概述 ·····················································.1
项目 1 创建机器人工作站 ··············································································.5
任务 1.1 RobotStudio 功能介绍及界面认知···················································.5
任务 1.2 机器人属性设置及虚拟控制器的创建·············································.11
任务 1.3 周边设备的创建与导入·······························································.21
任务 1.4 工具的创建 ··············································································.34
任务 1.5 机械装置的创建 ········································································.39
项目 2 创建仿真工作站动态效果 ·····································································48
任务 2.1 机器人标准 I/O 板及信号的配置 ···················································.48
任务 2.2 使用事件管理器创建气缸伸缩动作················································.53
任务 2.3 使用 Smart 组件创建主盘工具的开合动作 ·······································.59
任务 2.4 使用 Smart 组件控制工具拾取和放置 ·············································.62
任务 2.5 使用 Smart 组件控制夹爪开合动作 ················································.71
任务 2.6 使用 Smart 组件控制物料取放 ······················································.76
任务 2.7 使用 Smart 组件实现旋转供料 ······················································.86
任务 2.8 使用 Smart 组件实现井式上料 ······················································.90
任务 2.9 使用 Smart 组件实现输送带传送物料 ·············································.99
任务 2.10 使用 Smart 组件实现预置多个物料自由下落·································.101
任务 2.11 使用 Smart 组件实现关节成品装配·············································.109
任务 2.12 工作站逻辑的设置及仿真信号控制 ··············································115
项目 3 机器人汉字书写工作站离线编程及真机验证··········································.121
任务 3.1 工具数据和工件坐标的创建·······················································.121
任务 3.2 自动测载荷程序的应用·····························································.127
任务 3.3 机器人运行轨迹的自动生成·······················································.134
任务 3.4 机器人运行轨迹的优化·····························································.141
任务 3.5 仿真设定和仿真后续处理··························································.148
任务 3.6 离线程序的真机验证································································.154
任务 3.7 运动学奇点 ············································································.165
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ABB 工业机器人虚拟仿真与离线编程
项目 4 机器人装配工作站仿真及 VR 验证 ······················································.170
任务 4.1 关节成品装配程序的编写··························································.170
任务 4.2 基于 VR 的工作站仿真验证 ·······················································.180
任务 4.3 基于 OPC UA 的西门子 PLC 与 RobotStudio 软件联合仿真···············.183
项目 5 机器人打磨工作站仿真 ·····································································.197
任务 5.1 机器人打磨工作站的创建与调试·················································.197
任务 5.2 欧拉角与四元数 ······································································.202
附录 Smart 组件属性说明···········································································.206