标题：Research on 6R industrial robot intersection curve welding control and 3D simulation technology
作者：Song, Xiao-Bin ;Tian, Xin-Cheng
作者机构：[Song, Xiao-Bin ;Tian, Xin-Cheng ] School of Control Science and Engineering, Shandong University Jinan, Shandong; 250000, China
会议名称：4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
会议日期：3 July 2019 through 5 July 2019
来源：2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
摘要：Based on complex industrial field environment, modern industrial robots need good real-time, safety and stability, put forward higher requirements for control system. In this paper, real-time control technology and three-dimensional simulation technology of six-degree-of-freedom industrial robot are studied. A six-degree-of-freedom robot control system is developed by using CODESYS software supporting EtherCAT fieldbus. The hardware, software and core algorithm of the control system are designed. Different from the traditional CNC machine tool processing, six axial industrial robot is used to weld the trajectory of sphere-tube intersection curve, 3D simulation and welding code are automatically generated, and the algorithm rationality is tested and simulated. The proven six-degree-of-freedom robot control system can complete the real-time position and attitude control of the torch, acquire the state of the robot in real time, and support a variety of industrial robot models. It realizes automatic programming, 3D simulation, program uploading and downlinking, etc. The entire system has good real-time and reliability. © 2019 IEEE.