Study on path planning and compensation of off-line programming for thick walled curve welding  

作　　者：陈洪堂 李海超 高洪明 吴林 

机构地区：[1]School of Mechanical Engineering, University of Jinan, Jinan, 250022. [2]State Key Laboratory of Advanced Welding and Joining, Harbin Institute of Technology, Harbin, 150001.

出　　处：《China Welding》2015年第4期69-73,共5页中国焊接（英文版）

摘　　要：Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programming welding path was decreased due to the deviation between the off-line planned welding path and the actual welding path. A path planning algorithm and a path compensation algorithm of multi-layer and multi-pass curve welding seam for off-line programming of robot welding are developed in this paper. Experimental results show that the robot off-line programming improves the welding efftcieney and precision for thick walled curve welding seam.Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programming welding path was decreased due to the deviation between the off-line planned welding path and the actual welding path. A path planning algorithm and a path compensation algorithm of multi-layer and multi-pass curve welding seam for off-line programming of robot welding are developed in this paper. Experimental results show that the robot off-line programming improves the welding efftcieney and precision for thick walled curve welding seam.

关 键 词：robot welding off-line programming path planning path compensation 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP242.6[自动化与计算机技术—控制科学与工程]