基于运动链末端耦合与解耦的机器人协同焊接算法  

Collaborative Welding Algorithm of Robots Based on Coupling and Decoupling of Kinematic Chain Ends

作　　者：张铁[1] 应灿[1] 翟敬梅[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2013年第11期56-61,67,共7页Journal of South China University of Technology(Natural Science Edition)

基　　金："863"计划重点项目(2009AA043901-3);广东省战略新兴产业资助项目(2011A091101001);广东省教育部科技部产学研结合项目(2012B090600028);广东省科技计划项目(2012B010900076;2012B011300056)

摘　　要：随着焊接自动化进程的不断推进,多机器人协同焊接作业成为了焊接机器人领域的研究热点.文中基于运动链末端耦合与解耦的思想,将机器人工作站视为若干条通过关节连接而成的开式运动链的组合,通过分析各运动链末端在协同焊接过程中必须满足的通用约束,研究机器人工作站中各主/从运动链的耦合与解耦方法,进而提出了一种机器人工作站协同焊接算法.该算法以负责夹持焊件的运动链为主运动链,使焊缝离散点依次更替并调整到最佳焊接位姿,其他运动链末端跟踪当前焊缝离散点.文中还以变位双焊接机器人工作站为例,通过仿真验证了所提出的协同焊接算法的有效性.With the development of welding automation,multi-robot collaborative welding has become a research hotspot in the field of welding robots.In this paper,based on the coupling and decoupling idea of kinematic chain ends,a robot workstation is regarded as the combination of several open kinematic chains connected with joints,the general constraints that must be satisfied by the kinematic chain ends in the welding process are analyzed,and the coupling/decoupling method of master/slave kinematic chains is explored.Thus,a collaborative welding algorithm of robot workstation is proposed.In this algorithm,the kinematic chain for grasping weldments is taken as the main chain and the discrete points of welding seam are successively replaced and adjusted to the optimal welding pose, while the other kinematic chains are responsible for the tracking of current discrete points of the welding seam.Mo-reover,by taking a dual-welding robot workstation with one positioner as an example,the effectiveness of the pro-posed algorithm is verified through simulation.

关 键 词：工业机器人 协同焊接 运动链 耦合 解耦 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]