绪论———工业机器人离线编程与虚拟仿真概述 ······················································ 1__eol__项目 1 创建机器人工作站 ··············································································· 5__eol__任务 1.1 RobotStudio 功能介绍及界面认知···················································· 5__eol__任务 1.2 机器人属性设置及虚拟控制器的创建·············································· 11__eol__任务 1.3 周边设备的创建与导入································································ 21__eol__任务 1.4 工具的创建 ··············································································· 34__eol__任务 1.5 机械装置的创建 ········································································· 39__eol__项目 2 创建仿真工作站动态效果 ·····································································48__eol__任务 2.1 机器人标准 I/O 板及信号的配置 ···················································· 48__eol__任务 2.2 使用事件管理器创建气缸伸缩动作················································· 53__eol__任务 2.3 使用 Smart 组件创建主盘工具的开合动作 ········································ 59__eol__任务 2.4 使用 Smart 组件控制工具拾取和放置 ·············································· 62__eol__任务 2.5 使用 Smart 组件控制夹爪开合动作 ················································· 71__eol__任务 2.6 使用 Smart 组件控制物料取放 ······················································· 76__eol__任务 2.7 使用 Smart 组件实现旋转供料 ······················································· 86__eol__任务 2.8 使用 Smart 组件实现井式上料 ······················································· 90__eol__任务 2.9 使用 Smart 组件实现输送带传送物料 ·············································· 99__eol__任务 2.10 使用 Smart 组件实现预置多个物料自由下落·································· 101__eol__任务 2.11 使用 Smart 组件实现关节成品装配·············································· 109__eol__任务 2.12 工作站逻辑的设置及仿真信号控制 ··············································115__eol__项目 3 机器人汉字书写工作站离线编程及真机验证··········································· 121__eol__任务 3.1 工具数据和工件坐标的创建························································ 121__eol__任务 3.2 自动测载荷程序的应用······························································ 127__eol__任务 3.3 机器人运行轨迹的自动生成························································ 134__eol__任务 3.4 机器人运行轨迹的优化······························································ 141__eol__任务 3.5 仿真设定和仿真后续处理··························································· 148__eol__任务 3.6 离线程序的真机验证································································· 154__eol__任务 3.7 运动学奇点 ············································································· 165__eol__V__eol__ABB 工业机器人虚拟仿真与离线编程__eol__项目 4 机器人装配工作站仿真及 VR 验证 ······················································· 170__eol__任务 4.1 关节成品装配程序的编写··························································· 170__eol__任务 4.2 基于 VR 的工作站仿真验证 ························································ 180__eol__任务 4.3 基于 OPC UA 的西门子 PLC 与 RobotStudio 软件联合仿真················ 183__eol__项目 5 机器人打磨工作站仿真 ······································································ 197__eol__任务 5.1 机器人打磨工作站的创建与调试·················································· 197__eol__任务 5.2 欧拉角与四元数 ······································································· 202__eol__附录 Smart 组件属性说明············································································ 206