摘要
为了提高面向复杂空间路径焊接机器人的焊接质量,以IRB 1410型机器人为研究对象,采用改进的D-H(Denavit-Hartenberg)法建立其运动学模型,通过坐标变换推导出机器人末端相对于基坐标系的位姿变换矩阵,利用RobotStudio软件和FlexPendant示教器验证了正运动学模型的正确性,然后推导出焊接机器人逆运动学的解析解,设计了Simulink模块对逆运动学算法进行仿真验证。根据所建立的运动学模型对具有复杂空间路径的马鞍形焊缝进行了等角度插补轨迹规划,并通过五次多项式插值算法使焊枪由初始位置至焊接起始点的运动轨迹与马鞍形轨迹相衔接。研究结果表明,本文建立的焊接机器人正、逆运动学求解模型可用于复杂空间路径焊接机器人的轨迹规划,焊接过程中机器人各关节运动连续且平稳,可满足焊接精度要求。
In order to improve the working quality of the welding robot for complex spatial paths,IRB 1410 robot was taken as the research object and its kinematic model was established by using the modified D-H(Denavit-Hartenberg)method.The pose transformation matrix of the robot’s end-effector relative to the basic coordinate system was derived via coordinate transformation.RobotStudio software and FlexPendant tool were used to validate the forward kinematics model.Then the analytical solutions of the inverse kinematics of the welding robot were derived,and Simulink module was designed to verify the inverse kinematic algorithm.According to the proposed kinematic model,the equal-angle interpolation trajectory was planned for the saddle-shaped weld with complex spatial paths,and the trajectory from the initial position of the welding torch to the starting point of the welding was connected with the saddle-shaped trajectory by the quintic polynomial interpolation algorithm.The results show that the forward and inverse kinematics models can be used for the trajectory planning of the welding robot for complex spatial paths,and all joints of the robot move continuously and smoothly during the operation process,which can meet the requirement of welding accuracy.
作者
余震
任豪豪
秦庆平
胡柯
Yu Zhen;Ren Haohao;Qin Qingping;Hu Ke(Key Laboratory of Metallurgical Equipment and Control of Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China;Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering,Wuhan University of Science and Technology,Wuhan 430081,China;SGS-CSTC Standard Technical Services(Qingdao)Co.,Ltd.,Qingdao 266101,China)
出处
《武汉科技大学学报》
CAS
北大核心
2023年第5期384-392,共9页
Journal of Wuhan University of Science and Technology
基金
湖北省自然科学基金资助项目(2016CFB581)
湖北省科技厅重点研发计划项目(Zn2021d012)
武汉市特种设备监督检验所科研项目(2022H20344).
关键词
焊接机器人
运动学分析
复杂空间路径
轨迹规划
马鞍形焊缝
welding robot
kinematic analysis
complex spatial path
trajectory planning
saddle-shaped welding seam
