基于Matlab的空间焊缝焊枪姿态控制与实现  

Pose control and implement for complex curve based on Matlab

作　　者：赵凤申[1] 

机构地区：[1]南通航运职业技术学院机电系,江苏南通226010

出　　处：《焊接技术》2012年第3期39-41,44,共4页Welding Technology

基　　金：南通市应用研究计划资助项目(K2010033)

摘　　要：针对空间焊缝人工焊接效率较低、位姿无法精确控制而引起的焊缝质量不稳定等问题,提出采用基于Matlab的机器人离线编程系统方案。该方案借助Matlab的数值计算和绘图功能,在分析焊缝特征坐标系的基础上,实现曲线模型构建、姿态规划和三维仿真,并将逆向运动学结果发送至实体机器人,实现实体和虚拟机器人的同步运动。实践证明,该方案可靠有效,提高了焊接效率。To solve the problem of low efficiency and unsteadiness of welding quality caused by pose inaccuracy in complex curve welding,a new scheme was presented.This new scheme,which in virtue of Matlab's excellent numerical calculation and plot function,and on the basis of weld seam coordinates' analysis,achieved the complex curve model building,pose layout and 3D simulation,and then sent the inverse kinematical results back to the physical robot to achieve the synchronous motion of the entitative and the dummy robots.Practice proved the scheme could improve the efficiency availably.

关 键 词：工业机器人 复杂曲线 焊接 位姿 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TG4[自动化与计算机技术—控制科学与工程]