焊接机器人焊接工艺参数与空间轨迹联合规划  

Combined Planning between Welding Parameters and Space Trajectory for Welding Robot

作　　者：王君[1] 陈智龙 李书廷 汪泉[1] 任军[1] WANG Jun;CHEN Zhi-long;LI Shu-ting;WANG Quan;REN Jun(Center for Robotics Research,School of Mechanical Engineering,Hubei University of Technology,Wuhan 430068,China)

机构地区：[1]湖北工业大学机械工程学院机器人技术研究中心,武汉430068

出　　处：《组合机床与自动化加工技术》2018年第8期144-149,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(51405140);湖北省自然科学基金重点项目(2015CFA112);湖北省教育厅优秀中青年科技创新团队项目(T201505)

摘　　要：为提高焊接效率,改善焊接质量,对焊接机器人焊接工艺参数与空间轨迹进行联合规划,提出一种实时性高、可控性强、焊接误差小的轨迹规划方法。通过在执行器末端增加虚拟关节,建立合适的虚拟关节模型,并将焊接工艺参数用虚拟关节的关节变量表示,在机器人关节空间进行轨迹规划,使得焊接工艺参数的控制更加直观、便捷。利用虚拟关节模型结合B样条曲线仿射不变的特性,通过控制真实关节的运动曲线,来对焊接工艺参数进行间接控制。以求解最优时间解为目标,进行焊接工艺参数与关节空间轨迹的联合规划。采用ABB Robotstudio工具软件进行仿真,编写焊接机器人作业程序,以平面直线型焊缝为例进行试焊,结果显示该方法是可行的,有效的。In order to improve the welding efficiency and quality,this paper studies the combined planning between welding parameters and space trajectory for welding robot and proposes a trajectory planning method with high real-time performance,strong controllability and small welding error. By adding the virtual joint at the end-effector,the appropriate virtual joint model is established and the welding process parameters are represented by the virtual joint variables. The trajectory planning is carried out in the robot joint space,which makes the control of the welding process parameters more intuitive and convenient. By using the virtual joint model combined with the B-spline curve affine invariant,the welding process parameters are indirectly controlled by controlling the motion curve of the real joint. To solve the optimal time solution as the goal,the welding process parameters and joint space trajectory joint planning. Under the simulation with ABB Robotstudio software on the flat linear welding,the results showthat the method is feasible and effective.

关 键 词：虚拟关节 焊接工艺参数 轨迹规划 B样条曲线 

分 类 号：TH162[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]