机器人单元离线编程
Robot cell offline programming
Define targets and collision-free paths and post a program for a robot cell.
20 条本项目编写的提案 · 分类 v1.1 · 新增基准运行 0 次。下方验证方式与部分得分规则是设计，不是执行结果。
- 典型应用
- RoboDK · ABB RobotStudio · FANUC ROBOGUIDE
- 小类 GUI 需求标签
HY· 混合
任务提案 · 20
展开查看完整原文与建议检查方式；两种界面均保留提案英文原文。
R07.09.01.01-T01 Create targets from a table and post a KUKA program in RoboDK
原始指令
Open fixtures/cell_kr10.rdk in RoboDK. Create targets P1-P5 in frame 'Fixture' from input/targets.csv (x, y, z, rx, ry, rz), build program 'Inspect' with MoveJ to P1 and MoveL through P2-P5 at 200 mm/s, and post it with the KUKA KRC4 post-processor to output/Inspect.src.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- RoboDK
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
HY· 混合- GUI 需求 · 普通权限
AP· API 足够- 交互原语
click· 指向与点击type· 文字与表单- 工作产物
WP06· 代码 / 工程- 条件
licensed· 授权专业软件- 提案难度
- 2 / 5
建议验证方式
Grader loads the saved .rdk in its own RoboDK instance: target poses within 0.01 mm/0.01 deg in frame 'Fixture'; instruction list and speed exact; posted .src parses with matching LIN/PTP lines. API port closed in agent session; connections logged.
建议部分得分
40% target poses; 30% program instructions; 30% posted KRL correct.
R07.09.01.01-T02 Teach collision-free pick-and-place targets by jogging in RoboDK
原始指令
In fixtures/pnp_ur10e.rdk, teach approach, pick and place targets for the part on 'Infeed' and the slot on 'Tray' by jogging/dragging the robot (gripper TCP, Z-down within 2 deg), build a cycle program with 50 mm approach offsets and make it collision-free with cycle time <=6.0 s. Save the station.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- RoboDK
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G2· GUI 必要- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
drag· 拖放geom· 精确几何vis· 视觉判断- 工作产物
WP06· 代码 / 工程- 条件
licensed· 授权专业软件- 提案难度
- 3 / 5
建议验证方式
Grader simulates the saved program with collision checking: zero collisions, pick TCP within 1 mm of part grasp frame, place within 1 mm of slot, approach offsets 50 mm, cycle <=6.0 s. RoboDK API connections during the session are detected, logged and fail the task (see control T08).
建议部分得分
30% pick/place poses within 1 mm; 20% approach offsets; 30% collision-free; 20% cycle time.
R07.09.01.01-T03 Program a 3-layer palletizing pattern in RobotStudio
原始指令
In RobotStudio, open fixtures/palletizer.rspag (IRB 460, infeed conveyor, EUR pallet). Write a RAPID routine that stacks 36 boxes (400x300x200 mm) in 3 layers of 12 with interlocked layer patterns from input/pattern.pdf, using the existing vacuum smart component. Run the simulation and save the pack-and-go.
- 平台
win· Windows- 应用
- ABB RobotStudio
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
HY· 混合- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击type· 文字与表单code· 代码与命令vis· 视觉判断- 工作产物
WP06· 代码 / 工程- 条件
licensed· 授权专业软件- 提案难度
- 4 / 5
建议验证方式
Grader unpacks, runs the virtual controller and logs box poses at end of simulation: 36 boxes, each within 5 mm/2 deg of the pattern positions, no box overlap, no collisions logged.
建议部分得分
20% RAPID loads without errors; 20% layer 1 correct; 40% layers 2-3 interlocked correctly; 20% no collisions.
R07.09.01.01-T04 Build a pick-and-place TP program in FANUC ROBOGUIDE
原始指令
In ROBOGUIDE HandlingPRO, open workcell fixtures/lrmate_pnp. Create a TP program PNP_MAIN that picks a part from fixture A and places it on fixture B using UFRAME 1 and UTOOL 1, with J moves to approach and L moves at 300 mm/s for the last 50 mm, gripper DO[1]. Run it once in the simulator.
- 平台
win· Windows- 应用
- FANUC ROBOGUIDE
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G2· GUI 必要- GUI 需求 · 普通权限
G2· GUI 必要- 交互原语
click· 指向与点击geom· 精确几何type· 文字与表单- 工作产物
WP06· 代码 / 工程- 条件
licensed· 授权专业软件- 提案难度
- 3 / 5
建议验证方式
Grader backs up the virtual controller and converts PNP_MAIN.TP to .LS: frames, move types, speeds and DO[1] timing correct; simulation trace shows part attached at A and released at B with no collisions. Programs loaded from external .LS files are detected via file timestamps.
建议部分得分
30% program structure and frames; 30% pick and place poses within 1 mm; 20% DO timing; 20% clean simulation.
R07.09.01.01-T05 Generate a glue bead path from part edges in RoboDK
原始指令
Import input/door_panel.step into fixtures/glue_cell.rdk, select the 6 outer flange edges as a curve-follow project, set the nozzle 10 mm off the surface with tool Z normal within 5 deg, 150 mm/s, lead-in/out 20 mm. Resolve singularities and joint-limit issues, then post for ABB IRC5.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- RoboDK
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G2· GUI 必要- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击path· 连续路径geom· 精确几何vis· 视觉判断- 工作产物
WP06· 代码 / 工程- 条件
licensed· 授权专业软件- 提案难度
- 4 / 5
建议验证方式
Grader resamples the program path: >=98% of points within 0.5 mm of 10 mm offset curve, tool-axis deviation <=5 deg, no singularity/axis-limit warnings in simulation, posted .mod parses. RoboDK's API server is disabled in the agent instance and any API connection is detected in the station log and fails, so this must be done in the GUI.
建议部分得分
25% correct edges selected; 30% offset/orientation within tolerance; 25% feasible without warnings; 20% posted program.
R07.09.01.01-T06 Coordinate two arc-welding robots with MultiMove in RobotStudio
原始指令
In fixtures/multimove_weld.rspag, program the two IRB 1600 robots with MultiMove to weld seams S1-S4 on the positioner-mounted frame per input/weld_plan.xlsx (torch work angle 45+/-5 deg, travel 10+/-5 deg, 8 mm/s), synchronized so no seam is welded by both. Simulate and save.
- 平台
win· Windows- 应用
- ABB RobotStudio · Excel
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
HY· 混合- GUI 需求 · 普通权限
G2· GUI 必要- 交互原语
click· 指向与点击geom· 精确几何code· 代码与命令- 工作产物
WP06· 代码 / 工程- 条件
licensed· 授权专业软件long· 长流程multiapp· 多应用- 提案难度
- 5 / 5
建议验证方式
Grader runs the virtual controllers: TCP traces cover each seam within 0.5 mm, angles within tolerance, SyncMoveOn/Off used, no robot-robot or robot-part collisions, cycle time logged <=110% of reference.
建议部分得分
30% seams covered accurately; 20% torch angles; 25% synchronization valid; 25% collision-free with cycle time in limit.
R07.09.01.01-T07 Define a work object from three probed points and retarget a program
原始指令
In RobotStudio station fixtures/drill_cell.rspag, create work object 'wobjFixture' using the 3-point method on the fixture's corner features (origin, X, Y), then move existing routine 'Drill6' targets into this work object so they follow the fixture after it was moved 120 mm. Simulate and save.
- 平台
win· Windows- 应用
- ABB RobotStudio
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
HY· 混合- GUI 需求 · 普通权限
G2· GUI 必要- 交互原语
click· 指向与点击geom· 精确几何- 工作产物
WP06· 代码 / 工程- 条件
licensed· 授权专业软件- 提案难度
- 2 / 5
建议验证方式
Grader reads the controller backup: wobjFixture uframe within 0.2 mm/0.1 deg of the fixture's true frame; all 6 drill targets within 0.5 mm of hole centers in world after the move; simulation clean.
建议部分得分
40% work object pose; 40% targets follow fixture; 20% simulation runs clean.
R07.09.01.01-T08 Script the same pick-and-place with the RoboDK API (control pair of T02)
原始指令
Control pair of T02: using only the RoboDK Python API (no GUI interaction), compute and create the approach, pick and place targets for fixtures/pnp_ur10e.rdk from the part and tray frames, build a collision-free cycle program with 50 mm offsets and cycle <=6.0 s, and save the station.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- RoboDK · Python
- 交互表面
api· API / SDKterm· 终端- GUI 需求 · 任务设定
CL· CLI 足够- GUI 需求 · 普通权限
AP· API 足够- 交互原语
code· 代码与命令- 工作产物
WP06· 代码 / 工程- 条件
licensed· 授权专业软件- 提案难度
- 3 / 5
建议验证方式
Control pair of T02: identical checks (poses within 1 mm, offsets, zero collisions, cycle <=6.0 s); GUI input events are recorded and must be absent.
建议部分得分
30% poses; 20% offsets; 30% collision-free; 20% cycle time.
R07.09.01.01-T09 Configure DCS position-check safety zones in ROBOGUIDE
原始指令
In ROBOGUIDE workcell fixtures/m20_guarded, configure Dual Check Safety Cartesian position check zones from input/safety_layout.pdf: a stop zone around the operator station and a slow zone (250 mm/s) at the load table. Apply, then verify in simulation that program TEST_DCS stops at the stop-zone boundary.
- 平台
win· Windows- 应用
- FANUC ROBOGUIDE
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G2· GUI 必要- GUI 需求 · 普通权限
G2· GUI 必要- 交互原语
click· 指向与点击type· 文字与表单geom· 精确几何vis· 视觉判断- 工作产物
WP08· 应用 / 系统状态- 条件
licensed· 授权专业软件risk· 高风险 / 不可逆- 提案难度
- 4 / 5
建议验证方式
Grader reads DCS parameters from the controller backup: zone boxes within 5 mm of layout, correct stop/speed types; replay of TEST_DCS shows halt before entering the stop zone and speed <=250 mm/s in the slow zone. Safety parameters change only in the virtual controller. The PC Developer's Kit connection is blocked in the agent VM, and the DCS change log in the backup must show edits made from the virtual teach-pendant menus.
建议部分得分
40% zone geometry; 20% zone types/speeds; 40% simulated behavior correct.
R07.09.01.01-T10 Post a RoboDK program for a FANUC LR Mate with correct frames
原始指令
Open fixtures/deburr_lrmate.rdk in RoboDK and post program 'Deburr' with the FANUC R-30iB post-processor to output/DEBURR.LS, using UFRAME 3 and UTOOL 2 and splitting the program if it exceeds 1,000 lines.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- RoboDK
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
HY· 混合- GUI 需求 · 普通权限
AP· API 足够- 交互原语
click· 指向与点击type· 文字与表单- 工作产物
WP06· 代码 / 工程- 条件
licensed· 授权专业软件- 提案难度
- 2 / 5
建议验证方式
Grader parses the .LS files: UFRAME_NUM=3, UTOOL_NUM=2, point count equals program targets, positions within 0.01 mm; split respected. Comparison to grader's own post.
建议部分得分
40% frame numbers; 40% points exact; 20% split handled.
R07.09.01.01-T11 Place a robot base so every target is reachable without singularities
原始指令
In RobotStudio, open fixtures/press_tending.rspag. Drag/position the IRB 2600 base on the floor area marked 'Base zone' so that all 24 targets in path 'Tend' are reachable with one consistent configuration, no wrist singularity (|J5|>10 deg) and no collisions. Save the station.
- 平台
win· Windows- 应用
- ABB RobotStudio
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G2· GUI 必要- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
drag· 拖放geom· 精确几何vis· 视觉判断- 工作产物
WP04· 三维 / 空间模型- 条件
licensed· 授权专业软件- 提案难度
- 3 / 5
建议验证方式
Grader reloads: base pose inside the zone polygon; reachability check of all 24 targets passes; joint traces show |J5|>10 deg throughout; zero collisions. Base pose changes via external scripts detected through station history.
建议部分得分
20% base inside zone; 40% all targets reachable; 20% no singularities; 20% collision-free.
R07.09.01.01-T12 Mill a foam pattern with a robot from CAM toolpaths in RoboDK
原始指令
In fixtures/robot_mill.rdk, load the 3-axis toolpath input/pattern_rough.nc onto the foam block, set tool axis tolerance to optimize orientation, and resolve all joint-limit, singularity and collision issues while keeping tool-axis deviation <=15 deg. Post to KUKA KRC4 and report total machining time.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- RoboDK
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G2· GUI 必要- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击geom· 精确几何vis· 视觉判断- 工作产物
WP06· 代码 / 工程- 条件
licensed· 授权专业软件long· 长流程- 提案难度
- 5 / 5
建议验证方式
Grader simulates the posted program: TCP path within 0.1 mm of the NC path for >=99% of points, deviation <=15 deg, no singularities, no collisions, no axis-limit errors; reported time within 2% of simulation. RoboDK's API server is disabled in the agent instance and any API connection is detected in the station log and fails, so this must be done in the GUI.
建议部分得分
25% toolpath loaded in right frame; 35% path accuracy; 30% feasibility; 10% time reported.
R07.09.01.01-T13 Lay out a conveyor pick cell in Visual Components to a throughput target
原始指令
In Visual Components, build a cell from eCatalog components: infeed conveyor with sensor, one 6-axis robot with vacuum gripper, two outfeed conveyors. Configure pick-and-place so parts alternate between outfeeds and throughput reaches >=20 parts/min over a 10-minute simulation. Save output/cell.vcmx.
- 平台
win· Windows- 应用
- Visual Components
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G2· GUI 必要- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
drag· 拖放click· 指向与点击geom· 精确几何- 工作产物
WP04· 三维 / 空间模型- 条件
licensed· 授权专业软件- 提案难度
- 3 / 5
建议验证方式
Grader runs the saved layout headless for 10 simulated minutes: count of parts on each outfeed equal within 1, total >=200, no collision events, component list as specified. Visual Components' Python and .NET API add-ons are disabled in the agent license, so the cell can only be built in the GUI.
建议部分得分
25% components placed and connected; 25% robot program alternates outfeeds; 50% throughput target met (pro-rata).
R07.09.01.01-T14 Build a vacuum gripper smart component with I/O in RobotStudio
原始指令
In fixtures/gripper_lab.rspag, create a Smart Component 'VacGripper' with a LineSensor, Attacher and Detacher, driven by digital signal doVac, and connect it to the virtual controller I/O. Write a RAPID routine that picks the 3 parts on the table and places them in the bin.
- 平台
win· Windows- 应用
- ABB RobotStudio
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
HY· 混合- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击drag· 拖放type· 文字与表单code· 代码与命令- 工作产物
WP06· 代码 / 工程- 条件
licensed· 授权专业软件- 提案难度
- 3 / 5
建议验证方式
Grader inspects the station: smart component with required children and bindings, I/O connection exists; simulation log shows 3 attach and 3 detach events and all parts inside bin volume at end.
建议部分得分
35% smart component structure; 15% I/O connection; 50% three parts transferred.
R07.09.01.01-T15 Calibrate a tool TCP from four probe poses and rerun a program
原始指令
The robot in fixtures/dispense.rdk touched the same reference point in 4 orientations; flange poses are in input/tcp_probe.csv. Compute the TCP offset in RoboDK (or by least squares), update tool 'Nozzle', rerun program 'Bead' and confirm the path stays on the part. Write the TCP and fit residual to output/tcp.json.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- RoboDK · Python
- 交互表面
desk· 桌面 GUIterm· 终端- GUI 需求 · 任务设定
HY· 混合- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击type· 文字与表单code· 代码与命令- 工作产物
WP07· 仿真结果- 条件
licensed· 授权专业软件- 提案难度
- 3 / 5
建议验证方式
Grader solves the least-squares TCP: agent's TCP within 0.2 mm and residual within 0.05 mm; station tool 'Nozzle' updated to match; program simulates without collision.
建议部分得分
50% TCP within tolerance; 20% residual; 30% tool updated and program clean.
R07.09.01.01-T16 Cut a pick-and-place cycle time below 8 s in RobotStudio
原始指令
fixtures/pnp_slow.rspag runs a 9.8 s pick-and-place cycle. Reduce it to <=8.0 s by tuning zones, speeds, approach heights and target configurations, keeping the same pick and place poses, approach clearance >=30 mm and zero collisions. Save the station and log changes in output/changes.md.
- 平台
win· Windows- 应用
- ABB RobotStudio
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
HY· 混合- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击type· 文字与表单vis· 视觉判断- 工作产物
WP06· 代码 / 工程- 条件
licensed· 授权专业软件- 提案难度
- 4 / 5
建议验证方式
Grader simulates: cycle time from controller timer <=8.0 s (partial to 9.0), pick/place poses unchanged (0.5 mm), min clearance >=30 mm on approach, zero collisions.
建议部分得分
50% cycle time (pro-rata); 20% poses unchanged; 15% clearance; 15% no collisions.
R07.09.01.01-T17 Find and clear collisions in an existing RoboDK program
原始指令
In fixtures/machine_tend.rdk, program 'Load' collides with the CNC door and the vise. Turn on collision checking, locate the colliding moves and add via points or change configurations so the program is collision-free, without moving the CNC, vise or pick/place targets. Save the station.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- RoboDK
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G2· GUI 必要- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
drag· 拖放geom· 精确几何vis· 视觉判断- 工作产物
WP06· 代码 / 工程- 条件
licensed· 授权专业软件- 提案难度
- 3 / 5
建议验证方式
Grader simulates with its collision map: zero collisions, pick and place targets unchanged, fixed objects unchanged (pose diff), program still ends at home. RoboDK's API server is disabled in the agent instance and any API connection is detected in the station log and fails, so this must be done in the GUI.
建议部分得分
50% collision-free; 25% targets and objects unchanged; 25% program completes at home.
R07.09.01.01-T18 Turn a DXF part outline into a deburring program verified in RobotStudio
原始指令
From input/bracket.dxf, create a deburring path around the outer contour in RoboDK (tool tilted 30 deg outward, 40 mm/s), post it as ABB RAPID, load it into the RobotStudio virtual controller in fixtures/deburr_station.rspag and run it. Save the station and output/Deburr.mod.
- 平台
mac· macOSwin· Windows- 应用
- RoboDK · ABB RobotStudio
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
HY· 混合- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击geom· 精确几何multi· 跨应用- 工作产物
WP06· 代码 / 工程- 条件
licensed· 授权专业软件multiapp· 多应用long· 长流程- 提案难度
- 5 / 5
建议验证方式
Grader runs the RobotStudio controller: TCP trace within 0.5 mm of the DXF contour mapped to the part frame, tilt 30+/-3 deg, no errors in the event log, Deburr.mod matches the module loaded in the controller.
建议部分得分
25% path generated from correct contour; 25% RAPID loads and runs; 35% trace accuracy; 15% tilt angle.
R07.09.01.01-T19 Program an arc-weld path with weld schedules in ROBOGUIDE ArcTool
原始指令
In ROBOGUIDE ArcTool workcell fixtures/arc_bracket, program the 3 fillet seams on the bracket: torch work angle 45+/-5 deg, travel angle 10+/-5 deg, Arc Start/End with weld schedules 1-3 from input/wps.pdf, and approach/depart points. Run the simulation.
- 平台
win· Windows- 应用
- FANUC ROBOGUIDE
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G2· GUI 必要- GUI 需求 · 普通权限
G2· GUI 必要- 交互原语
click· 指向与点击geom· 精确几何vis· 视觉判断- 工作产物
WP06· 代码 / 工程- 条件
licensed· 授权专业软件- 提案难度
- 4 / 5
建议验证方式
Grader converts the TP program: Arc Start/End around each seam with the right schedule, seam points within 1 mm of the seam lines, computed torch angles in range, no collisions in simulation. The PC Developer's Kit connection is blocked in the agent VM, and TP programs loaded from external .LS files are detected via controller file timestamps.
建议部分得分
30% seam point accuracy; 30% torch angles; 25% weld schedules; 15% clean simulation.
R07.09.01.01-T20 Check reachability of a customer cell spec and report infeasible stations
原始指令
A customer asks for a single IRB 1300 in fixtures/assembly_cell.rspag to serve stations A-D at the positions in input/cell_spec.pdf. Test reachability of each station's targets without moving stations, program the reachable ones, and list unreachable ones with reasons in output/feasibility.md instead of moving equipment.
- 平台
win· Windows- 应用
- ABB RobotStudio
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
HY· 混合- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击geom· 精确几何vis· 视觉判断- 工作产物
WP12· 答案 / 决策- 条件
licensed· 授权专业软件clarify· 需要澄清- 提案难度
- 3 / 5
建议验证方式
Exactly one station (D) is out of reach by design. Grader checks feasibility.md names D only with a reach reason; reachable stations programmed and simulate cleanly; station positions unchanged.
建议部分得分
40% infeasible station correctly reported, none invented; 40% reachable stations programmed; 20% layout unchanged.
已有研究映射
当前映射未给此小类指定基准参考。