双机器人主从协调焊接的路径规划算法  

Path planning algorithm for leader-follower of two-robot coordinate welding

作　　者：赵娜[1] 岳建锋[1] 李亮玉[1] 王天琪[1] 郑武科 

机构地区：[1]天津工业大学天津市现代机电装备技术重点实验室,天津300387 [2]山西省电力公司电力开关厂,山西030045

出　　处：《焊接学报》2015年第3期67-70,4,共5页Transactions of The China Welding Institution

基　　金：国家自然科学基金资助项目(51075299;U1333128)

摘　　要：针对空间复杂曲线焊接问题进行了双机器人协调焊接路径规划方法的研究,在保证焊接过程焊缝点熔池处于水平或稍微下坡状态前提下,提出了一种主从协调跟踪的路径规划算法,以实现一台机器人夹持工件不断调整位姿满足船形焊的要求,另外一台机器人跟踪焊缝曲线实施焊接.建立了协调系统数学模型,时间约束和空间约束,在此基础上规划了焊枪坐标系和工件机器人的位姿;并以马鞍形焊缝的焊接为研究对象进行了两个机器人的协调路径规划.并对该算法所规划的结果进行试验验证.结果表明,该算法可实现空间复杂曲线焊缝的连续焊接工作.The present study introduces a path planning algorithm of the two-robot coordinate system in welding task of complex curve seam. Furthermore,a leader-follower scheme has been proposed,according to the molten pool of each points on whole seam are nearly vertical or horizontal,which guarantee one robot catching work piece to adjust seam lying in the flat position under pose constraint and the other tracking and welding. In this research,the two-robot coordinate system and coordinate mathematical model has been established for constrained pose. Moreover,the paper study on path planning in two-robot coordinate which saddle-shape weld seam as study objects. Finally,test on path planning was done in order to prove the theory results,while the test results and analysis show that the two-robot coordinate system can realize continuous welding for complex curve seam.

关 键 词：双机器人协调 路径规划 马鞍形焊缝 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TG409[自动化与计算机技术—控制科学与工程]