基于UML的焊接机器人控制软件的设计与实现

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1、AbstractAbstractCombinedwimJi锄笋uprojectof仃觚sf0唧ationof∞i-techachievement，tlleauthordesi印ed锄drobotcon仃olso脚a坞．developedn地”K蚰sh孤NO．1”welding111ispaperbegillsbydescming廿1e切沮．’sb弱ic吐leoD，觚du∞ofUl儿toguidet量圮s0胁aredevelopment，be删”KuIlSh锄NO．1”mbotconn．0lsoRwa舱吣ingo巧ect—oriemeddesignide笛锄dmemodS，whil

2、etheUML笛astan捌objec细riemedmodeliI唱language，suita_blef．orall卯esofsystemmodelin吕tIIerefore，tlleauthofuseUML部Ⅱ1emodelinglan昏lagemtllisproject．IIlmispaper，I"咀，邯ed蠡叮锄alysisanddesi印of“KuIlsh柚NO．1”robotconbIolsof咐are，mn蛐曲吐他useOfUMLmodelhlgsoRwaresystem，t11econtrols0Rw批’ss虮lcturec锄showedmo他cl∞rly．W

3、e

4、IdingrobotsystIeminevi协blyleadt0aV撕e锣oferrors，iIlordertoimprovenlerobotsystem’se仃0rbeaprocessiI培power，nleremuStco仃espondillgen饼monitoring柚dh姐dlingmechaIlisIIl'thispap钉discuSSesthee玎0rmonitoring锄dh锄dlingmechaIlismu∞dbymeco曲．olsoft、Vare，廿1erea陀manydi俄relltmonitoringmethodsfIordi位rem咖，懿weU罄e啪rh锄

5、dlir培process．Illadditioll，iIlordert0inlprovet

6、圮pe而m柏ce0ftIlecon仃ols0Rw批，nleprojecth硒taI(enmanye虢ctivemeasures，kludingu∞des咖paltemstoimprove廿lescalabilit)，觚dmunim雌adsynchronizationt0improve吐leS协bili够Finally，吐lispaperdiscllSses廿1erobot夥stemh舔∞hieVedmemain如nctio啮，includiIlgreplay‰ctiolls(includi

7、ngsplineinterpolation觚dmulti-pointjointiIlterpolation)，sin酉e-StepfhnctioIl，wreldse锄ssearcmn易，孤ldfinallyc硎edolItan啪berofteSt，锄d也e∞sultsshownlattllesofhramS)rst锄胁ctionalit)，andperf嘶mancearetomeetthedesi印requirementsoftlleweldingrobotsystemt0∽meve鞠fe，st2lble锄drcliablecontr01．K吩啊ords：weldingrob鸥c

8、on臼．0lso觚are，IJlⅢ，Ⅱ目录摘要一I．HⅢABSTRACT第一章绪论l1．1当前工业机器人的发展状况⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯l1．1．1国外工业机器人的发展现状⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯l1．1．2国内工业机器人的发展现状⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯。21．2课题背景及意义⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯21．3本论文的主要工作⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯．31．4本论文的内

9、容安排⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯3第二章UML建模介绍⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯42．1UNm概述⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯。42．2l瓜Ⅱ，分类⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯一52．3Ⅵ咀。建模过程⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯