双机器人协同焊接的轨迹优化  

Optimization on two cooperative robot arms' trajectory for welding

作　　者：翟敬梅[1] 应灿[1] 张铁[1] 徐晓[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广州510640

出　　处：《焊接学报》2015年第1期91-95,117-118,共7页Transactions of The China Welding Institution

基　　金：国家高技术研究发展计划资助项目(863计划2009AA-043901-3);广东省战略新兴产业资助项目(2011A-091101001);广东省教育部科技部产学研结合资助项目(2012B090600028);广东省科技计划资助项目(2012B010900076;2012B011300056)

摘　　要：提出一种双机器人协同焊接轨迹优化方法.基于弗莱纳-雪列矢量理论,建立并修正复杂焊缝离散点坐标系.在双机器人协同焊接有效工作空间内,以最佳焊位、焊接速度恒定、无碰撞以及一定焊枪工作位姿为约束条件,确定双机器人初始焊接点可行域.基于焊接平稳性思想,以焊接全过程双机器人各关节角位移变化总量最小化为优化目标,获取最优初始焊接点和其对应的最优焊接轨迹.搭建试验平台,比较最优初始焊接点和其它可行点的协同焊接轨迹.对各关节的平均角速度、角速度波动性、峰值和焊接时间四个方面分析.结果表明,提出轨迹优化方法是有效的.A trajectory optimization method of two cooperative welding robot arms is proposed.Based on Frenet-Serret vector theory,a revised coordinate system for welding discrete point of complicated curve is established.The feasible region of welding start point is determined in an effective workspace for two cooperative robot arms,with the best welding position,constant welding speed,collision-free and torch working posture.The start point of welding is further optimized by minimizing the total angular displacement and the corresponding optimal welding path is obtained.An experiment is set up to compare the welding trajectory of the optimal start point with those of other feasible points.With analysis in each joint's average angular velocity,the volatility and peak of the angular velocity and total welding time,it is verified effective for the trajectory optimization method.

关 键 词：双机器人 协同焊接 轨迹优化 弗莱纳-雪列 船形焊 

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]