《工业机器人编程》课程教学大纲

《工业机器人编程》课程教学大纲
Industrial robot programming course syllabus
一、课程说明(Course Description)
《工业机器人编程》是智能制造工程和机器人工程专业方向课程的必修课程，通常在第六学期或第七学期开设。

该课程主要包括工业机器人的系统组成与集成、系统运动轴、点动坐标系、编程内容及方法、典型运动轨迹编程、动作次序编程和机器人焊接工艺条件调控等内容。

通过本课程的学习，学生将对以工业机器人为代表的智能装备与生产线应用有一个较为全面而深入的体验认知，为今后从事智能制造工程技术人员职业打下坚实基础。

同时，激发学生的爱国热情，培养学生积极投身国家智能制造专项建设、培养学生为建设制造强国而奋斗的精神。

Industrial robot programming is a compulsory course for intelligent manufacturing engineering and robotics engineering, which is usually opened in the sixth or seventh semester. The course mainly includes the system composition and integration of industrial robot, system motion axis, jogging coordinate system, programming content and method, typical motion trajectory programming, action sequence programming and robot welding process condition regulation. Through the study of this course, students will have a comprehensive and in-depth experience, especially the application of intelligent equipment and production lines represented by industrial robots. Therefore, it can lay a solid foundation for the future career of intelligent manufacturing engineering and technical personnel. At the same time, to stimulate students' patriotic enthusiasm, cultivate students to actively participate in the national intelligent manufacturing special construction, cultivate students' spirit of striving for building
a manufacturing power.
二、本课程与其他课程的联系与分工(The relationship and division of labor between this course and other courses)
本课程的先修课程为“智能制造工艺学”“单片机原理与应用”“机电传动控制”“计算机控制系统”等课程。

The prerequisite courses of this course are intelligent manufacturing technology, principle and application of single chip microcomputer, electromechanical drive control and computer control system.
三、课程目标及对毕业要求指标点的支撑关系(Curriculum objectives and the supporting relationship to graduation requirements)
1．课程目标（Curriculum objectives）
本课程以工业机器人销量占比近半数的焊接机器人为切入点，重点介绍工业机器人系统应用中运动轨迹、工艺条件和动作次序等核心编程知识，尤其以提质增效为宗旨的机器人应用系统参数调控原理和方法，以期培养学生综合运用所学专业知识分析和解决复杂工程问题的能力。

Taking the welding robot, which accounts for nearly half of the sales of industrial robots, as the starting point, this course focuses on the core programming knowledge of motion trajectory, process conditions and action sequence in the application of industrial robot system, especially the principle and method of parameter regulation of robot application system for the purpose of improving quality and efficiency. In order to cultivate students' ability to analyze and solve complex engineering problems by comprehensively applying the professional knowledge they have learned.
（1）知识目标（Knowledge goals）
1）能够列举工业机器人系统的组成并阐明其工作原理；
List the components of an industrial robot system and explain how they work.
2）能够辨识工业机器人系统运动轴类型及常见的点动坐标系；
Identify the motion axis types and common jog coordinate systems of industrial robot systems.
3）能够归纳工业机器人任务示教的主要内容和基本流程；
Summarize the main content and basic process of industrial robot task teaching.
4）能够根据任务要求合理开展机器人任务规划和运动规划；
Reasonably carry out robot task planning and motion planning according to task requirements.
5）能够使用机器人编程指令完成直线、圆弧及摆动轨迹的任务编程；
Use robot programming instructions to complete the task programming of straight line, arc and swing trajectory.
6）能够区别机器人I/O 信号并实现周边（工艺）辅助设备的协同（调）动作。

Distinguish the I/O signals of the robot and realize the coordinated (adjustment) action of the peripheral (process) auxiliary equipment.
（2）能力培养（Ability training）
1）能够适时选择恰当的点动坐标系完成机器人的增量点动和连续移动（或转动）；
Select the appropriate jog coordinate system at the right time to complete the incremental jog and continuous movement (or rotation) of the robot.
2）能够快速运用接触法和直接输入法完成机器人工具坐标系的设置；
Quickly use contact method and direct input method to complete the setting of robot tool coordinate system.
3）能够创建、编辑、测试和运转机器人任务程序；
Be able to create, edit, test and run robot task programs.
4）能够根据作业缺陷灵活调整机器人工具姿态和工艺条件；
Flexibly adjust the robot tool attitude and process conditions according to the operation defects.
5）能够使用示教盒实时监测机器人系统运动和I/O 接口状态。

Use the teaching box to monitor the robot system motion and I/O interface status in real time.
（3）思政目标（Ideological and political objectives）
1）通过对工业机器人等智能装备技术的认知学习，了解该领域的“卡脖子”问题，激发学生的责任感、使命感和爱国主义情怀；
Through the cognitive learning of intelligent equipment technology such as industrial robots, students can understand the "stuck neck" problem in this field, so as to stimulate students' sense of responsibility, mission and patriotism.
2）将“工匠精神”贯穿任务各个阶段，激励学生在学习和实践过程中不畏艰难、严谨思维和团结协作；
The "craftsman spirit" runs through all stages of the task, with the purpose of inspiring students to be brave, rigorous thinking, united and collaborative in the process of learning and practice.
3）将所学知识综合运用在实际操作过程中，适应现代智能制造技术发展，培养具有较强实践能力和创新精神的高素质复合型技术人才。

Students will comprehensively apply what they have learned in the actual operation process to adapt to the development of modern intelligent manufacturing technology. Cultivate high-quality compound technical talents with strong practical ability and innovative spirit.
2．课程目标对毕业要求指标点的支撑(The support of curriculum goal to graduation requirement index point)
注：用“√”方式描述课程目标与毕业要求指标点的支撑关系。

Note: using "√" to describe the supporting relationship between curriculum objectives and graduation requirements.四、课程教学内容（Course content）
（一）理论教学（Theory teaching）
1．认识工业机器人的庐山真面目（Understand the true face of industrial robot）
了解工业机器人的基本概念、发展内因、机械结构、系统组成、常见分类、典型应用以及产业现状。

Understand the basic concept of industrial robot, internal cause of development, mechanical structure, system composition, common classification, typical application and industrial status.
2．揭开焊接机器人的神秘面纱（Uncover the mystery of welding robot）
掌握焊接机器人的工作原理，理解焊接机器人的常见分类，了解焊接机器人的安全防护装置、常见安全标志、安全操作规程和焊接劳保用品。

重点掌握焊接机器人的系统组成及各部分的功能。

Master the working principle of welding robot and understand the common classification of the welding robot. Understand the safety protection device, common safety signs, safety operation procedures and welding labor protection articles of welding robot. The key point is to master the system
composition and function of each part of the welding robot.
3．初试工业机器人的任务编程（Preliminary test of task programming for industrial robot）掌握工业机器人任务示教的主要内容与编程方法；了解工业机器人示教盒的按钮布局和画面窗口；难点是工业机器人任务编程的主要内容及运动轨迹的示教。

Master the main content and programming method of the industrial robot task teaching; understand the button layout and screen window of the industrial robot teaching box. The difficulty is the main content of task programming and the motion trajectory.
4．工业机器人工具坐标系的设置（Setting of tool coordinate system for industrial robot）
掌握工业机器人的系统运动轴及工具坐标系的设置方法；理解工业机器人坐标系及运动特点；了解焊接机器人焊枪姿态的规划与显示。

难点是工业机器人坐标系及机器人在不同坐标系下的运动特点。

Master the setting method of the system motion axis and tool coordinate system of the industrial robot; understand the coordinate system and motion characteristics of the industrial robot; understand the planning and display of the welding robot welding torch posture. It is important to master the coordinate system and the motion characteristics of the industrial robot in different coordinate systems.
5．工业机器人的直线轨迹编程（Linear trajectory programming of industrial robot）
掌握机器人直线轨迹，机器人焊接工艺条件与动作次序的示教；了解采用焊接机器人直线轨迹示教时焊接工艺条件与动作次序的示教以及对对接焊缝成形质量的影响。

重点掌握工业机器人的编辑指令与任务程序的编辑。

Master the teaching of robot linear trajectory, robot welding process conditions and action sequence; understand the teaching of welding process conditions and action sequence when using welding robot linear trajectory teaching, as well as the influence on the quality of butt weld formation. Focus on mastering the editing instructions and task program editing of industrial robot.
6．工业机器人的圆弧轨迹编程（Arc trajectory programming of industrial robot）
掌握机器人圆弧轨迹、圆周轨迹和连弧轨迹的示教，能够对骑坐式管-板平角焊焊枪姿态进行规划；了解T形角焊缝的成形质量。

重点掌握工业机器人的圆弧动作指令与任务程序的编辑。

Master the teaching of the robot arc, circle and continuous arc trajectory, and be able to plan the posture of the seated tube-plate flat fillet welding torch; understand the forming quality of the T-shaped fillet weld. Focus on mastering the editing of arc motion commands and task programs of industrial robot.
7．工业机器人的摆动轨迹编程（Swing trajectory programming of industrial robot）
了解焊接机器人的摆动电弧与摆动焊道；重点掌机器人握摆动动作指令，能够使用机器人编程指令完成直线摆动和圆弧摆动轨迹的任务编程；难点是机器人焊枪摆动参数的配置以及对焊接机器人立角焊焊枪姿态的规划。

Understand the swing arc and swing weld bead of welding robot; focus on mastering the robot's
grasping swing action instructions, and be able to use robot programming instructions to complete the task programming of linear swing and arc swing trajectory; the difficulty is the configuration of the swing parameters of the robot welding torch and the planning of the pose of the welding robot's fillet welding torch.
8．工业机器人的动作次序编程（Action sequence programming of industrial robot）
了解机器人焊枪自动清洁的动作次序，能够区别机器人I/O信号并实现周边（工艺）辅助设备的协同（调）动作，使用示教盒实时监测机器人系统运动和I/O接口状态；理解工业机器人的信号处理指令和流程控制指令。

Understand the action sequence of the automatic cleaning of the robot welding torch, be able to distinguish the I/O signal of the robot and realize the coordinated (adjustment) action of the peripheral (process) auxiliary equipment, use the teaching box to monitor the movement of the robot system and the status of the I/O interface in real time; understand the signal processing and flow control instructions.
（二）实践教学（Practical teaching）
1．关节型工业机器人的机械结构认知（Mechanical structure cognition of joint industrial robot）了解串联式、并联式工业机器人构型，理解关节型工业机器人的关节驱动和传动，掌握垂直多关节型机器人本体的构成及功能。

Understand the configuration of series and parallel industrial robots, understand the joint drive and transmission of joint industrial robots, and master the composition and function of vertical multi joint robot body.
2．工业机器人的点位和连续路径控制（Point position and continuous path control of industrial robot）
掌握工业机器人的点位控制和连续路径控制特点，理解机器人运动学原理。

Master the characteristics of point position control and continuous path control of industrial robot, and understand the kinematics principle of robot.
3．T形接头平角焊的焊枪姿态规划（Torch posture planning for flat fillet welding of T-joints）掌握手动操纵焊接机器人精确定点运动和连续移动，理解机器人常用坐标系及各运动轴在不同坐标系下的运动。

Master the precise fixed-point movement and continuous movement of manually operated welding robot, and understand the common coordinate system of robot and the movement of each motion axis in different coordinate systems.
4．工业机器人的直线路径运动规划（Linear path motion planning of industrial robot）
了解工业机器人安全操作规范，掌握工业机器人任务示教的主要内容，理解工业机器人坐标系及运动特点。

Understand the safety operation specification of industrial robot, master the main content of task
teaching of industrial robot, and understand the coordinate system and motion characteristics of industrial robot.
5．工业机器人的圆弧路径运动规划（Arc path motion planning of industrial robot）
掌握工业机器人动作指令的内涵及用法，理解单一圆弧、整圆和连续圆弧的示教要领。

Master the connotation and usage of industrial robot action command, and understand the Teaching Essentials of single arc, whole circle and continuous arc.
6．骑坐式管-板平角焊焊枪姿态规划（Ride-on tube-to-plate fillet welding torch posture planning）掌握圆弧轨迹的示教要领，能够使用示教盒熟练编辑机器人圆弧轨迹的示教，加深学生对机器人圆弧轨迹运动示教的理解。

Master the Teaching Essentials of arc trajectory, be able to use the teaching box to skillfully edit the teaching of robot arc trajectory, and deepen students' understanding of robot arc trajectory motion teaching.
7．工业机器人的摆动路径运动规划（Swing path motion planning of industrial robot）
掌握工业机器人动作指令，理解直线摆动和圆弧摆动的示教要领。

Master the action instructions of industrial robot, and understand the Teaching Essentials of straight-line swing and circular arc swing.
8．机器人焊枪清理程序的示教编程（Teaching programming of robot welding gun cleaning program）
掌握焊接机器人周边设备的示教要领，能够使用示教盒进行焊枪清理装置的示教编程。

Master the Teaching Essentials of peripheral equipment of welding robot, and be able to use the teaching box to teach and program the welding gun cleaning device.
五、课程的教学环节(Teaching link of the course)
本课程通过课堂讲授、课程实验、课后作业等教学环节，实现课程目标的达成。

This course achieves the goal of the course through classroom teaching, course experiment, homework and other teaching links.
1．课堂讲授（Classroom teaching）
采用线上线下混合式教学形式，机器人基础性知识和实践性内容以微视频、电子课件等线上共享资源自学方式为主，线下课堂教学过程以启发式和讨论式为主，启发学生的思维、引导学生达到学习目标。

部分理论性较强的重点、难点，采取课程讲授法。

针对本课程专业性与实践性较强的特点，结合工程案例教学，加深学生对理论知识的理解，调动学生的积极性，提高分析研究工程问题的能力。

The online and offline hybrid teaching mode is adopted. The basic knowledge and practical content of robot are mainly self-learning mode of sharing resources such as micro video and electronic courseware. The offline classroom teaching process is mainly heuristic and discussion, which can
inspire students' thinking and guide them to achieve learning objectives. Some of the key points and difficulties with strong theoretical nature are taught in the course. According to the characteristics of this course, combining with engineering case teaching, students' understanding of theoretical knowledge is deepened, students' enthusiasm is aroused, and the ability of analyzing and researching engineering problems is improved.
2．课程实验（Course experiment）
采用线上线下混合式教学形式，通过机器人本体机构认知实验理解工业机器人操作机的驱动、传动模块；通过点位控制和连续路径控制理解工业机器人的运动控制工作原理；通过直线和圆弧路径规划理解工业机器人的任务编程要领；通过机器人附加摆动强化对机器人示教编程要领的掌握。

学生对实验过程现象进行观察、记录、分析，查阅、整理和概括资料，形成最终实验报告。

Using the online and offline hybrid teaching form, through the robot body mechanism cognitive experiment to understand the driving and transmission module of the industrial robot manipulator; through the point position control and continuous path control to understand the industrial robot motion control working principle; through the straight line and arc path planning to understand the industrial robot task programming essentials; strengthen the mastery of the teaching and programming essentials of the robot through the additional swing of the robot. Students observe, record and analyze the phenomena in the experimental process, consult, sort out and summarize the data, and form the final experimental report.
3．课程作业（Course assignments）
根据教学需要，每次理论课布置课后作业或思考题，帮助学生掌握重点难点。

学生必须独立、按时完成作业，教师批阅全部学生的作业并予以登记。

According to the needs of teaching, homework or thinking questions are arranged for each theory class to help students master the key and difficult points. Students must finish their homework independently and on time. The teacher will check and register all students' homework.
六、考核方式与成绩构成（Assessment method and performance composition）
1．考核方式（Assessment method）
（1）课程作业。

要求学生独立完成，按照作业情况进行考核。

Course assignments. Students are required to complete it independently and assess according to their homework.
（2）课程实验。

要求学生以小组的形式完成，按照开展情况进行考核。

Course experiment. Students are required to complete it in groups and carry out assessment according to the development situation.
（3）期末考试。

参照《浙江师范大学大学本科生课程考核管理办法》，按照试卷评分标准进
行考核。

期末考试试卷要求有命题分析、分项试卷成绩分析。

Final exam. Referring to the "Zhejiang Normal University undergraduate course assessment management measures", the assessment shall be carried out according to the scoring standard of the test paper. The final examination papers require proposition analysis and item analysis.
2．成绩构成（Achievement constitution）
注：工作方式可以是个人或小组。

Note: the working mode can be individual or group.
七、达成度评价方法（Achievement evaluation method）
1．课程目标达成评价（Evaluation on the achievement of curriculum objectives）
考核方式对课程目标的支撑关系及权重分配（The supporting relationship and weight distribution of assessment methods to curriculum objectives）：
注：若某项课程目标由单一考核方式支撑，则该考核方式权重为1；若某项课程目标由多个考核方式支撑，请根据各考核方式对该课程目标的贡献程度确定权重，各考核方式权重和为1。

Note: if a course objective is supported by a single evaluation method, the weight of the evaluation method is 1; if a course objective is supported by multiple evaluation methods, please determine the weight according to the contribution of each evaluation method to the course objective, and the sum of the weight of each evaluation method is 1.
课程目标达成度计算公式（Calculation formula of curriculum goal achievement）：
=⨯∑
考核方式学生在该项考核方式的平均得分
某项课程目标达成度权重
支撑某项课程目标的考核方式满分
2．毕业要求指标点达成评价（Achievement evaluation of graduation requirement index point）
某项毕业要求指标点由多项课程目标支撑时，取课程目标达成度的最低值作为该项毕业要求指标点的达成度。

When a graduation requirement index point is supported by multiple course objectives, the lowest value of the degree of achievement of the course objectives is taken as the degree of achievement of the graduation requirement index point.
八、建议学时分配（Recommended class hour allocation）
注：用“√”方式描述教学内容（知识模块或知识点）对课程目标的支撑。

Note: using "√" to describe the support of teaching content (knowledge module or knowledge point) to curriculum objectives.
九、建议教材与参考书目（Recommended teaching materials and reference books）
1．建议教材（Recommended teaching materials）
兰虎、邵金均、温建明主编.《工业机器人编程》，机械工业出版社，2022．
LAN Hu, SHAO Jinjun and WEN Jianming, Industrial robot programming, China Machine Press, 2022.
2．参考书目（Reference books）
[1] 钱丹浩主编.《工业机器人技术基础》，机械工业出版社，2021．
QIAN Danhao, Fundamentals of industrial robot technology, China Machine Press, 2021.
[2] 戴凤智、乔栋主编.《工业机器人技术基础及其应用》，机械工业出版社，2020．
DAI Fengzhi and QIAO Dong, Fundamentals and applications of industrial robot technology, China Machine Press, 2020.
[3] 兰虎、王冬云主编.《工业机器人基础》，机械工业出版社，2020．
LAN Hu and W ANG Dongyun, Fundamentals of industrial robots, China Machine Press, 2020.
[4] 祁宇明、孙宏昌、邓三鹏主编.《工业机器人编程与操作》，机械工业出版社，2019．
QI Yuming, SUN Hongchang and DENG Sanpeng, Industrial robot programming and operation, China Machine Press, 2019.
课程负责人（Course Leader）：
专业负责人（Major Leader）：
教学副院长（Vice Dean of Teaching）：
制订时间（Formulated on）：。