焊接机器人运动学仿真及控制系统研究  

Study on Kinematics Simulation and Control System of Welding Robot

作　　者：王军[1,2] 邵超祥[1] 张亮 李超[3] WANG Jun;SHAO Chaoxiang;ZHANG Liang;LI Chao(School of Materials Science and Engineering,Hebei University of Science and Technology,Shijiazhuang 050018,China;Hebei Key Laboratory of Material Near-Net Forming Technology,Hebei University of Science and Technology,Shijiazhuang 050018,China;Hebei Province Welding Steel Pipe Technology Innovation Center,Hengshui Jinghua Steel Pipe Co.,Ltd.,Hengshui 053000,China)

机构地区：[1]河北科技大学材料科学与工程学院,河北石家庄050018 [2]河北科技大学河北省材料近净成形技术重点实验室,河北石家庄050018 [3]河北省焊接钢管技术创新中心衡水京华制管有限公司,河北衡水053000

出　　处：《电焊机》2023年第9期29-36,共8页Electric Welding Machine

基　　金：国家自然科学基金(51775007);河北省高等学校科学技术研究项目(ZD2018060)。

摘　　要：为了提高焊接机器人的编程效率并保证焊接质量,对机器人运动学仿真和控制系统进行了研发。首先采用D-H参数法建模并对焊接机器人进行了正逆运动学求解,然后通过构建焊缝坐标系的方法对相贯线的自动路径规划进行了研究,并利用PC SDK与机器人控制器进行通信。基于Visual Studio C#平台结合OpenGL实现了机器人的运动学仿真、自动路径规划和远程弧焊控制功能。最后通过RobotStudio对该系统的基本功能进行了验证,结果表明系统准确可靠且满足焊接机器人的工作要求,较大地提高了作业效率,为机器人仿真和远程控制系统的开发提供了解决方案。In order to improve the programming efficiency of welding robot and ensure the welding quality,the development of robot kinematics simulation and control system was studied.First of all,the D-H parameter method is used to model and solve the forward and inverse kinematics of the welding robot.Then,the automatic path planning of the intersection line is studied by constructing the coordinate system of welding seam,and the PC SDK is used to communicate with the robot controller.Based on VisualStudio C#platform and OpenGL,the robot kinematics simulation,automatic path planning and remote arc welding control of functions are realized.Finally,the basic functions of the system were verified through RobotStudio,and the results showed that the system was accurate and reliable,and met the working requirements of welding robot,greatly improving work efficiency,and providing a solution for the development of robot simulation and remote control systems.

关 键 词：工业机器人 机器人仿真 弧焊系统 机器人运动学 路径规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]