论文部分内容阅读
提出了冗余度弧焊机器人及其路径自主规划的概念，讨论了在机器人焊接作业中引入冗余自由度的意义，运用控制变量法作为解决弧焊机器人冗余度的优化问题的方法，提出了包括焊接姿态参数在内的多性能指标融合控制方法，定义了焊接姿态参数函数、运动位置约束函数、运动平稳性函数。针对空间复杂焊缝，运用该路径自主规划方法求得的各关节角变化范围小、机器人运动过程平稳、远离关节极限位置，并且能够满足焊接质量的要求，有效地解决了冗余度弧焊机器人路径自主规划问题并取得了满意的结果。
The concept of redundant arc welding robots and their autonomous planning is put forward. The significance of introducing redundant degrees of freedom in robot welding is discussed. The control variable method is used as a method to solve the optimization problem of arc welding robot redundancy. The multi-performance index fusion control method including welding attitude parameters is defined, and the welding attitude parameter function, the motion position constraint function and the motion smoothness function are defined. Aiming at the complicated welding seam space, the range of joint angles obtained by autonomous programming of this path is small, the movement of the robot is stable and far away from the limit position of the joint, and can meet the requirements of welding quality, which effectively solves the problem that the redundancy arc welding robot Path autonomous planning problems and achieved satisfactory results.