摘要
为提高焊接机器人的作业精度和灵活性,通过对Motoman-UP6机器人运动学的分析和求解,结合焊接子系统,研发了以远程遥控操作方式进行示教取点的焊接机器人连续轨迹控制系统。首先建立了遥操作下焊接机器人连续作业控制流程与数学模型,进而结合操纵杆与焊接子系统等硬件设备,对焊接机器人进行任意曲线远程示教。最后,采用了插值拟合的方法实现了焊接过程中匀速控制。实验表明,本方法操作灵活,焊接轨迹平滑均匀且焊缝质量可靠,同时也解决了机器人示教过程中的可操作性问题,提高了焊接机器人的作业精度。
To improve the accuracy and flexibility of work by welding robot, a continuous path control system of welding robot based on tele-operation is developed, using analysis and solution of kinematics with robot Motoman-UP 6, accomplished with welding subsystem. First, the work flow and mathematical model of continuous path control system are conducted, then remotely teaching the welding robot to learn any curve line combined with joysticks and welding subsystem and other hardware. Finally, adapting the method of interpolation fitting to make sure the welding process at a constant speed. Experimental results indicate that(1)the control method is very flexible, and welding path is smooth, and the quality of welding seam is reliable;(2)the problem of controllable robot teaching is solved, and the work accuracy of welding robot is improved.
作者
卢明林
张宇
张攀峰
蒋梁中
LU Ming-lin;ZHANG Yu;ZHANG Pan-feng;JIANG Liang-zhong(School of Computer Science and Engineering, South China University of Technology, Guangdong Guangzhou 510006, China;School of Mechanical and Automotive Engineering, South China University of Technology, Guangdong Guangzhou 510640, China)
出处
《机械设计与制造》
北大核心
2019年第2期238-241,245,共5页
Machinery Design & Manufacture
基金
国家能源应用技术研究及工程示范项目(NY20140202)
