摘要
根据焊接机器人加工过程中所要完成的轨迹及避障任务,进行了机器人沿一定轨迹运动的无碰撞轨迹规划。首先通过同心圆柱面配合切面投影方法来细化机器人工作空间,寻优无碰撞加工路径。再基于慧鱼(fishertechnik)创意组合模型组装了三个自由度的焊接机器人来验证其加工轨迹。最后借助仿真软件获得优化的机器人三维空间加工路径。
Based on the track and barrier-void task of a welding robot in the period of machining, we present a program for non-collision track of robot movement. We first search the machining route through subdividing the working space by the homoeentric face of a cylinder tie in projection of a section. Then we assemble the welding robot with three swings according to the fishertechnik model in order to confirm the track of machining. Finally, we obtain the optimal machining track by software simulation.
出处
《机械科学与技术》
CSCD
北大核心
2007年第11期1442-1446,共5页
Mechanical Science and Technology for Aerospace Engineering
关键词
焊接机器人
元碰撞轨迹
仿真
welding robot
non-collision track
simulation
