基于空间等距线的焊接机器人轨迹优化  

Intersection seam of sphere and tube welding robot trajectory optimization based on spatial offset curve

作　　者：刘杰 胡绳荪[1,2] 申俊琦[1,2] 庹宇鲲[1,2] 陈昌亮 

机构地区：[1]天津大学材料科学与工程学院,天津300072 [2]天津大学天津市现代连接技术重点实验室,天津300072 [3]天津职业技术师范大学天津市高速切削与精密加工重点实验室,天津300222

出　　处：《焊接学报》2017年第11期47-50,81,共5页Transactions of The China Welding Institution

基　　金：国家自然科学基金资助项目(50975195);天津市应用基础及前沿技术研究计划资助项目(10JCYBJC06500)

摘　　要：针对球管相贯焊缝焊接机器人多道多层焊接中示教时间过长的问题,开展了等距线法机器人焊接轨迹规划的研究,提出了一种基于B样条空间等距线的轨迹优化方法.在机器人轨迹规划中,将前一道机器人焊接时局部修改过的轨迹投影到理论轨迹的拟合平面,将拟合平面上计算得到的投影曲线法向量作为求解下一道等距线轨迹的实际轨迹法向量;在指定端点切矢条件下,利用最小二乘法生成B样条曲线以逼近等距线,利用等距线生成机器人运动轨迹,从而有效地减少示教时间.结果表明,利用该方法得到的机器人焊接轨迹能够满足球管相贯焊缝焊接要求.To solue the problem that the intersection seam of sphere and tube welding robot spends too much time on trajectory teaching in multi-layer and multi-pass welding,a research on offset curves method is carried out for trajectory planning. A trajectory optimization method based on spatial offset B-spline is proposed. In this method of robot trajectory planning,the former trajectory which has been corrected partially is projected onto the fitted plane of theoretical trajectory,normal vectors of the projected curve are calculated and treated as the vectors of the real trajectory when calculating the next spatial offset B-spline trajectory.Given the tangent vectors of endpoints,a B-spline is generated by using the least-square method,and the spline is used to approximate the spatial offset curve. By approximating the spatial offset curve with B-spline,considerable time was saved in teaching procedure when treating the offset spline as the robot's path.The experimental results show that robot welding trajectory generated in this method can meet the requirement of intersection seam welding.

关 键 词：球管相贯焊缝 轨迹优化 B样条 等距线 最小二乘法 

分 类 号：TG409[金属学及工艺—焊接]