焊接机器人空间轨迹段间位姿平滑过渡方法  

A Smooth Transition Method of Position and Orientation Between Space Trajectory Segments of Welding Robot

作　　者：潘海鸿[1] 何飞龙 贾丙琪 付英东 陈琳[1] PAN Haihong;HE Feilong;JIA Bingqi;FU Yingdong;CHEN Lin(School of Mechanical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]广西大学机械工程学院,南宁530004

出　　处：《组合机床与自动化加工技术》2023年第11期65-68,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金资助项目(51465005);广西创新驱动发展专项项目(桂科AA18118002)。

摘　　要：针对目前采用传统轨迹过渡方法在实现多段焊接轨迹过渡处理仅能保证机器人末端速度的平滑性,却无法实现满足弓高误差要求的问题,提出采用三次非均匀有理B样条曲线(non-uniform rational B-splines,NURBS曲线)的最大弓高误差可控的轨迹过渡方法。根据最大弓高误差计算过渡路径点,并用NURBS曲线对路径点进行拟合得到过渡轨迹。此外,基于位姿同步,对衔接点的角速度进行前瞻处理,并采用S型加减速对轨迹姿态进行规划。在自主搭建的机器人测试平台验证所提出的轨迹过渡方法,实验结果表明可以根据焊接工艺需求设定最大弓高误差,且在保证机器人末端线速度和角速度平滑性的基础上,保证实际弓高误差小于设定值。Aiming at the problem that the traditional trajectory transition method can only ensure the smoothness of the robot end-effector velocity,but cannot meet the requirement of chord error.A trajectory transition method with controllable maximum chord error based on cubic non-uniform rational B-splines(NURBS curves)is proposed.The transition path points were calculated according to the maximum chord error,and the transition trajectory was obtained by fitting the path points with NURBS curves.In addition,based on pose synchronization,the angular velocity of the junction point is prospected,and the trajectory orientation is planned by S-type acceleration and deceleration.The proposed trajectory transition method was verified on the self-built robot test platform.The experimental results show that the proposed method can set the maximum chord error according to the welding process requirements,and ensure that the actual chord error is less than the set value on the basis of ensuring the smoothness of the robot end-effector linear velocity and angular velocity.

关 键 词：焊接机器人 NURBS曲线 弓高误差 平滑轨迹过渡 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]