双机器人协作弧焊过程的轨迹规划研究  

Research on Trajectory Planning of Coordinated Dual-manipulator Welding System

作　　者：万鸾飞[1,2] 戴先中[2,3] 甘亚辉[2,3] 

机构地区：[1]芜湖职业技术学院电气工程学院,安徽芜湖241006 [2]东南大学自动化学院,南京210096 [3]复杂工程系统测量与控制教育部重点实验室,南京210096

出　　处：《控制工程》2017年第7期1303-1309,共7页Control Engineering of China

基　　金：国家自然科学基金资助项目(61175113;51505193);安徽省质量工程项目(2015zy085;2015jxtd056);安徽省高校优秀青年人才支持计划重点项目(gxyq ZD2016594);芜湖职业技术学院科技创新团队(Wzykj2016A04)

摘　　要：在双机器人协作焊接平台基础上,建立焊缝与焊枪坐标系,得出其在空间的数学描述。基于相应的焊接工艺要求和不同类型机器人的特点,对双机器人协作焊接的轨迹规划进行了研究探讨,对焊接机器人和夹持机器人分别提出了相应的规划指标。在自主搭建的仿真平台中,依照提出的规划指标,针对典型的空间复杂曲线焊缝—马鞍形曲线焊缝,完成了焊接过程中焊缝(工件)的运动轨迹规划和焊接机器人的运动轨迹规划,仿真实验证明该方法具有很好的研究和应用价值。The welding seam coordinate system and welding gun coordinate system based on the coordinateddual-manipulator welding system are built. And their math express in the space are calculated. Based on therequirements of the welding technology and features of different manipulators, some research on the trajectoryplanning of the coordinated dual-manipulator is introduced. Then two relevant planning indexes for weldingmanipulators and handling manipulators are put forward. With these planning indexes, the motion planning ofwelding manipulators and handling manipulators is achieved for a kind of complex space curve--U-shapedcurve. The simulation experiments prove that this method is worth of research and application.

关 键 词：双机器人协作 焊缝数学模型 轨迹规划 三维仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]