在製造過程中，編輯機器人系統程式是一項耗時，困難且昂貴的工作，特別是對於中小型企業(SME)。使用現有離線編程(OLP)軟體可以解決部分問題，但需要支付授權費用。此外，現有OLP解決方案的體系結構很難根據應用程序之要求進行而修改或更新。本研究的目標是設計和開發具有靈活架構的可客製化和應用任務取向的OLP平台，且該平台具備彈性架構，允許與其他系統整成以產生新穎系統。平台的核心思想包括整合CAD和機器人學資訊，以設計和開發一個虛擬平台，供在同一環境中進行3D模型導入，路徑規劃，姿勢可視化以及機器人動作程序的產生和修改。本研究所提出的方法係基於Open Cascade (OCC)開源程式庫，允許用戶獨立開發並直接從CAD模型產生機器人路徑。該平台充分利用來自3D物件和嵌入在CAD模型中的工作機器的幾何資訊，並將它們轉換成執行指定任務所需的機器人路徑。本研究提出的平台以直觀的方式供方便互動，因此在幾分鐘內，任何用戶都可以產生機器人路徑並以圖形方式顯示模擬動作。另外，為了顯示所提出的平台產生的路徑的多功能性，本文使用6自由度工業機器手臂執行三個模擬任務，包括路徑標記、塗膠和雷射切割。最後，為了驗證和評估所產生路徑的有效性和所開發平台的性能，路徑標記和塗膠等任務被映射到實際場景。這一創新平台可以幫助許多產業實現更高水平的智慧自動化，並提高品質，同時降低生產成本。

In manufacturing processes programming robotic systems is a time-consuming, difficult and costly exercise, especially for small and medium-sized enterprises (SMEs). In this direction, many solutions have been proposed, to benefit with existing offline programming (OLP) software one needs to have a license. Further, the architecture of existing OLP solutions is rigid to modify or update with applications requirement. The goal of this research is to design and develop a customizable application-oriented offline programming (OLP) platform with a flexible architecture, which allows to integrate with other systems to generate innovative systems. The core idea involves integrating CAD and robotics information to design and develop a virtual platform for 3D model importation, path planning, pose visualization, and robot script generation and modification within the same environment. The proposed approach is based on Open Cascade (OCC) open source libraries, which allow the users to independently develop and directly generate a robot path from CAD models. The platform fully utilizes geometric information from both the 3D object and the machine tool embedded in the CAD models and transforms them into the robot path required for an assigned task. This proposed platform offers friendly interaction in an intuitive way so that in a few minutes, any user can generate a robot path and visualize the simulation graphically. Additionally, to show the versatility of the generated paths from the proposed platform, three simulated tasks (path marking, glue dispensing and laser cutting) using a 6-Degree-of-Freedom (DOF) industrial manipulator were performed. Finally, to demonstrate and evaluate the effectiveness of the generated paths and performance of the developed platform, tasks such as path marking and glue dispensing were mapped to a real site. This innovative platform can help many industries achieve a higher level of intelligent automation and increase quality while reducing the cost of production.

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