| 摘要 |
A graphical interface system and method of use allows robot programs to be graphically created and visualized in three dimensional space in a CAD environment. Using either on-line or off-line techniques, an operator enters robot positions and orientations in space into the interface to define robot configurations. Trajectories between configurations are entered or generated and are displayed along with the configurations. The state of the end effector is also entered and visually communicated. A special state can be designated. The special state has associated therewith programming code for controlling robot actions at a configuration and the robot environment at the configuration. When such a state is designated by the user, programming code written in a special language is entered and stored in association with a particular configuration. After all robot configurations, states and trajectories are entered, the system creates robot control data. In operation, when the robot reaches a configuration associated with the special state, the programming code is executed. Robot configurations and trajectories can be simultaneously displayed along with CAD created objects such as workpieces so that interactions therebetween are visible. The CAD environment is utilized for selecting configurations and creating of trajectories. Configurations can be also be designated by selecting points on CAD created objects and lines.
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