G代码 机器人的CNC实现

　    控制铣削工作台和工件的NC程序，通过CAD软件创建，这些NC程序与特定的机器类型相关。   NC程序在笛卡尔坐标系中动作的描述，对于需要确保一个明确的变换轴位置的关节型的机器人来说，缺少附加的状态和旋转信息。

       传统的机床主要有3个线性轴。由于这个原因,当数控程序执行,轴位置的变换是明确的。在笛卡尔路径或定位速度以及和由此产生的轴速度之间有一个线性关系。,也就是说在工作区范围内的机器工具, 可以使用相同的G代码刀加工工件的表面, 甚至加工多个夹紧相邻的工件。

KRL programs, on the other hand, are taught for a specific robot type and with
reference to a base, i.e. a specific workpiece position. Only then is it assured
that execution of the KRL programs with a jointed-arm robot will not exceed
the dynamic capabilities of the robot axes.
In order not to lose the advantage of G-code portability, we recommend positioning
the milling table in such a way that, for the expected applications, the
motions stay well clear of the singularity positions of the robot. If this is not taken
into consideration during system planning, the machining time is increased,
as the NC automatically reduces the path velocity as required. Furthermore,
non-constant path velocities have a detrimental effect on the process quality.
The following remedies are possible, however, in the case of singularities or
motions that exceed the dynamic capabilities (additional effort during start-up):
 Switch to axis space motion in the NC program (G-code).
 Program a rotation about the spindle axis in the NC program (G-code).