基于弗莱纳-雪列空间矢量的焊接离线编程路径规划  

Trajectory planning of off-line programming of welding line based on Frenet-Serret vector space

作　　者：曾翠华[1] 张纯忠[2] 杨军[1] 

机构地区：[1]中国工程物理研究院工学院,四川绵阳621900 [2]中国工程物理研究院应用技术研究发展中心,四川绵阳621900

出　　处：《焊接技术》2011年第7期44-48,6,共5页Welding Technology

摘　　要：阐述了机器人离线编程的弗莱纳-雪列空间矢量原理和路径规划算法。依据此原理和算法,以机器人焊接球罐和圆柱的空间曲线焊缝为实例,求出复杂空间曲线焊缝路径的各个点的齐次矩阵,计算机仿真实现路径规划。实例的详细步骤能指导您实现机器人离线编程作业,提高焊接质量和降低生产成本。In this paper,the principle of Frenet-Serret vector space of off-line programming and arithmetic of trajectory planning was expatiated. Matrix of the planned joint trajectories was presented by an example of welding the complex space curve formed sphere with column. Computer simulation with a Unimate type robot had carried out the trajectory planning according as the principle and the arithmetic. The detailed steps of trajectory planning could also help you to realize works of the robot off-line programming and improve weld quality and reduce labor costs.

关 键 词：机器人 焊接 弗莱纳-雪列矢量空间 轨迹规划 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] O29[自动化与计算机技术—控制科学与工程]