一种基于四元数法的焊接工作站协调控制算法  

A Coordination Control Algorithm for Welding Workstation Based on Quaternion Method

作　　者：冯桑[1] 王炳成 陈爱 FENG Sang;WANG Bingcheng;CHEN Ai(School of Electromechanical Engineering,Guangdong University of Technology,Guangzhou Guangdong 510006,China;Foshan Huashu Robotics Co.,Ltd.,Foshan Guangdong 528234,China)

机构地区：[1]广东工业大学机电工程学院,广东广州510006 [2]佛山华数机器人有限公司,广东佛山528234

出　　处：《机床与液压》2023年第11期40-44,共5页Machine Tool & Hydraulics

摘　　要：针对6R串联机器人运动学求解计算量大、传统方法求解困难以及涉及多解和奇异性等问题,在普吕克坐标系下描述了刚体运动,建立其四元数数学模型以及6R串联机器人运动学数学模型,求得6R串联机器人运动学逆解。建立工作站中机器人与变位机的协调联动算法模型,包括位置协调算法、速度协调算法以及姿态协调算法,最终得到机器人与变位机的控制程序。并且搭建焊接机器人工作站进行算法的实验验证。For 6R series robot,its kinematics solution computation load is big,traditional method is difficulty to solve it and multiple solution and singularity problems are involved.To solve these problems,rigid body motion was described under the Plucker coordinate system,the quaternion mathematical model and the kinematic mathematical model of 6R series robot were established,and its inverse kinematic solution was obtained.A coordinated linkage algorithm model of robot and position transformer in the workstation was established,including the position coordination algorithm,speed coordination algorithm and attitude coordination algorithm Finally the control program of robot and position transformer was obtained.And a welding robot workstation was built for experimental verification of the algorithm.

关 键 词：四元数 工业机器人 焊接工作站 控制算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]