实训项目3创建激光切割曲线.doc

实训项目 3 创建激光切割曲线1、在 ROBOTSTUDIO 中进行机器人及周边设备的合理布局2、 ROBOTSTUDIO 的软件中捕捉工具的使用3、机器人自动轨迹轨迹的创建4、仿真的调试机器人工作站的布局 所有的部件已包含在打包文件中 双击打开打包文件后， 请按照以下的图 1 中所示进行 布局图 1 机器人工作站的布局示意要注意的问题：1、机器人与周边的部件的位置要合理，周边部件应在机器人的工作范围的中间位置为 佳2、可以对机器人的操作，以确认机器人喷枪可以到达要最远端是可以顺利到达的，否 则以后再调整就会很麻烦了ROBOTSTUDIO 的软件中捕捉工具的使用详情说明书机器人轨迹的创建机器人的动作是从左侧的码垛盘存放处搬运到右边的的方形的码垛盘处 具体的操作方法如下：1、设置正确的工件坐标与工具，如下图所示：2、根据具体的情况，设定正确的机器人运动指令的参数，如下图所示：3、根据动作的要求通过示教指令的方法，创建对应的轨迹程序，程序样板如下图所示：MODULE Module1CONST robtarget phome:=[[206.469896202,711.958903415,1165.773085887],[0.005867891,0,-0.9999 82784,0],[0,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetpp1:=[[98.661188458,102.052283579,315.694866416],[0.005511338,0.022947832,0. 998215526,-0.054852398],[-1,-2,0,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_10:=[[98.660801969,102.052557915,140.055500578],[0.009401294,0.093936433,0.994050698,-0.054321015],[-1,-1,0,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_20:=[[105.361350134,101.599728901,140.162732903],[0.009405627,0.09393639,0.994048138,-0.054367163],[-1,-1,0,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_30:=[[114.970782726,102.53191278,140.14182916],[0.009396677,0.093936477,0.994053424,-0.054271823],[-1,-1,0,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_40:=[[124.482591031,105.402692924,139.907149195],[0.009369139,0.09393 6718,0.994069632,-0.05397851],[-1,-1,0,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_50:=[[133.234892743,110.094770125,139.469271238],[0.009324138,0.093937026,0.994095934,-0.053499242],[-1,-1,0,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_60:=[[143.72414839,119.535868826,138.541273238],[0.009233596,0.093937322,0.994148169,-0.052535112],[-1,-1,0,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_70:=[[151.764242037,186.488513498,131.924474268],[0.00859144,0.093927062,0.994492395,-0.04570306],[-1,-1,0,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_80:=[[167.867510963,357.351038048,119.196744011],[0.006952933,0.093803059,0.995164307,-0.028295681],[-1,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_90:=[[177.838432,532.647837928,112.311926182],[0.005275943,0.093530503,0.995547442,-0.01046423],[-1,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_100:=[[181.049414008,671.513281886,111.277944616],[0.003953431,0.093210517,0.995631872,0.003653161],[-1,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_110:=[[181.050932759,747.916391675,112.373690913],[0.004017779,0.023319503,0.99965761,0.011167853],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_120:=[[177.816088269,887.465644123,117.428302191],[0.003685779,0.023243032,0.9993998,0.025420796],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_130:=[[167.82310573,1062.489832721,129.364538556],[0.003269162,0.023113498,0.998788505,0.043319748],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_140:=[[151.6983421,1232.912377794,147.013175482],[0.002864328,0.022951172,0.997882687,0.060788015],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_150:=[[146.554506907,1275.38438469,152.343094479],[0.002763698,0.0229 05119,0.997608773,0.065149464],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_160:=[[143.665614788,1284.899055597,153.573997],[0.002741173,0.022894495,0.99754476,0.066127005],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_170:=[[138.942293137,1293.660827892,154.706599206],[0.002720437,0.022884612,0.997484953,0.067027331],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_180:=[[132.770146564,1301.120988622,155.665205766],[0.002702788,0.022876122,0.997433382,0.067794007],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_190:=[[125.323577397,1307.221342254,156.437193806],[0.00268836,0.022869129,0.997390768,0.06842099],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_200:=[[116.571372643,1311.899298453,157.008396405],[0.0026773,0.022863735,0.997357822,0.068901793],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_210:=[[107.05961388,1314.762536436,157.324661916],[0.002670532,0.022860421,0.997337544,0.069196042],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_220:=[[97.450184113,1315.694111364,157.372083078],[0.002668333,0.022859341,0.997330934,0.069291686],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_230:=[[-428.777146999,1245.08169365,143.539342241],[0.002835678,0.022938294,0.997806703,0.06202884],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_240:=[[-438.285769292,1242.219255999,143.101997108],[0.002842465,0.022941362,0.997824848,0.061734813],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_250:=[[-447.032342264,1237.539491023,142.448947983],[0.002853562,0.022946354,0.997854318,0.061254246],[0,0,-1,1],[9E9,9E9,9E9,9E9,9E9,9E9]];CONST robtargetTarget_260:=[[-45。