An Optimized Path Planning Method for Off-Line Programming of a Industrial Robot

Aimed at satisfying the demand of complex path programming for industrial robot, a computer-aided programming system based on DXF file is developed. By analyzing storage information of the graphic elements in DXF file, we develop a method to extract lines, arcs and circles, and then come up with a connect algorithm, which rearranges and connects the original isolated graphic elements in drawing order to some continuous paths. Guaranteeing assigned working paths, this system can not only raise working efficiency by reducing spare travels, but also avoid position error in one continuous path between graphic elements caused by relocation. The paths after rearrangement can be converted into robot's working file directly, hence increasing the programming efficiency. The results of both simulation and field experiment prove the system's feasibility in cutting, gelatinizing, arc welding, grinding and etc.