摘要
在研究了弧焊机器人和变位机协同作业的路径规划之后,提出用仿真进行协同作业规划的方法。该方法以位置和速度约束来规划机器人和变位机的运动,并根据作业路径建立样条函数,以样条函数作为仿真时焊枪位姿的点驱动函数。利用仿真结果,提取出仿真过程中弧焊机器人和变位机各关节的角位移函数,并由此生成弧焊机器人系统的焊接作业程序。经过机器人专用平台验证,采用该方法规划的弧焊机器人与数控变位机协同作业,其运动轨迹完全满足焊接作业要求。
Researehing on the path planning of arc-welding robot and positioner under their cooperative operation,the method of cooperative operation planning was proposed by means of simulation.In this method,the movements of arc-welding robot and positioner were restricted by their position and speed.As the drive funtion of General point motion,the spline function was created by the working path.According to the simulation results,the angular displacement function of each joint of arc-welding robot and positioner was obtained,and then the are-welding＇program was generated by these fuetions.Afler verified on the special platform,it was proved that the trajectory completely satisfied the requirements of welding operations,when using this method to plan cooperative operation.
出处
《电焊机》
北大核心
2009年第12期78-80,84,共4页
Electric Welding Machine
关键词
弧焊机器人
协同作业
离线编程
仿真
arc-welding robot
cooperative operation
off-line programming
simulation
