它必须是容易可再编程的2ProgrammingaRobot.PPT

* * * * * * * 2. Programming a Robot In joint interpolation, each of the robot joints is moved at a constant rate so that all the axes start and stop at the same time. [7] For Cartesian robots, straight-line and joint-interpolation schemes produce the same path. For the other types of robot systems, this is not true. 在关节插补中，机器人的每一关节都以一恒定速度移动以保证所有的轴同时启动和停止。对于笛卡尔机器人，直线和结点插补方案产生相同的路径。对于其他类型机器人系统，这不成立。 2. Programming a Robot Pendant programming systems normally have supplemental commands that allow the programmer to perform auxiliary operations such as close the end-effector, wait, pause, check the status of a switch or several switches, return a required status to a machine, etc. 操作器编程系统通常提供允许编程人完成辅助操作的命令，如关闭终端，等待，暂停，检查一种或几种转换状态，返回全部状况给机床，等等。 2. Programming a Robot The programmer walks the robot through the necessary steps required to perform a task, saving each intermediate step along with the auxiliary information. The teach pendant used to program the Fanuc MI robot is shown in Fig.5.4. 编程人员使机器人走过要求完成一项工作的必要步骤，保存每一中间步骤和辅助的信息。用于给Fanuc M1机器人编程的操作器，如图5.4所示。 2. Programming a Robot Lead-through programming is one of the simplest programming procedures used to program a robot. As the name implies, the programmer simply physically moves the robot through the required sequence of motions. The robots controller records the position and speed as the programmer leads the robot through the operation. 导入式程序是最简单的机器人程序设计过程之一。顾名思义，编程人只需根据需要的运动顺序进行机器人的实际移动。机器人控制器反馈它的位置并且像编程人一样引导机器人完成操作。 2. Programming a Robot The power is normally shut down while the programmer is leading the robot through the necessary moves, so that the robot will not will not generate any “glitches” that might injure the operator. 当编程人员负责引导机器人完成必要动作时，动力降低以便机器人不产生伤害操作人员的“小毛病”。 2. Programming a Robot Although lead-through programming is the easiest programming method learn, it does introduce some severe limitations to the robot’s application. For instance, when the robot is being led through the operation, the o