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在双机器人协作焊接平台基础上,建立焊缝与焊枪坐标系,得出其在空间的数学描述。基于相应的焊接工艺要求和不同类型机器人的特点,对双机器人协作焊接的轨迹规划进行了研究探讨,对焊接机器人和夹持机器人分别提出了相应的规划指标。在自主搭建的仿真平台中,依照提出的规划指标,针对典型的空间复杂曲线焊缝—马鞍形曲线焊缝,完成了焊接过程中焊缝(工件)的运动轨迹规划和焊接机器人的运动轨迹规划,仿真实验证明该方法具有很好的研究和应用价值。
Based on the dual robotic welding platform, the coordinate system of welding seam and welding torch is established, and its mathematical description in space is obtained. Based on the corresponding welding process requirements and the characteristics of different types of robots, the trajectory planning of two robots collaborative welding is studied and discussed. The corresponding planning targets are proposed respectively for the welding robots and the gripping robots. In the self-built simulation platform, in accordance with the proposed planning targets, the trajectory planning of the weld (workpiece) and the trajectory planning of the welding robot are completed for the typical complex curved weld-saddle curve weld Simulation results show that this method has a good research and application value.