本书基于 ABB 公司的 RobotStudio 软件，以"1+X”工业机器人应用编程职业技能中级证书考核标准为依据，介绍创建机器人工作站、创建仿真工作站动态效果、机器人汉字书写工作站离线编程与真机验证、机器人装配工作站仿真及 VR 验证、机器人打磨工作站仿真等内容。编写过程中，针对学生在学习中经常遇到但又比较难理解的内容，如运动学奇点、欧拉角与四元数等，书中也进行了详细讲解，为学生提供了实现对机器人更深层次理解的通道。 本书可作为职业院校机电一体化、电气自动化、工业机器人技术应用等专业的学生用书。

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