基于模拟退火迭代的正弦插补算法及焊接速度规划研究  

Research on Sinusoidal Interpolation Algorithm and Welding Speed Planning Based on Simulated Annealing Iteration

作　　者：陈文韬 王治中 CHEN Wentao;WANG Zhizhong(School of Automation,Guangdong University of Technology,Guangzhou,Guangdong 510006,China)

机构地区：[1]广东工业大学自动化学院,广东广州510006

出　　处：《自动化应用》2024年第15期52-57,61,共7页Automation Application

摘　　要：针对传统六自由度焊接机器人摆动焊接插补算法存在不对y轴方向进行速度规划的缺点,提出了一种基于模拟退火迭代的正弦插补算法。根据六自由度焊接机器人的特点,在对其进行速度规划时,应避免出现加速度突变,防止其在机械系统上产生一定的作用力和应力,进而导致不良后果或非期望的振动效应。采用七段式加减速速度规划,在焊接轨迹长度、初速度、末速度、最大加速度、最小加速度和加加速度的条件下,将规划路径分为一次加速段、二次加速段、匀速段、一次减速段、二次减速段、三次减速段,能够有效避免加速度突变,大大减轻对机械臂传动链和负载的应力作用和振动效应。Aiming at the disadvantage that the traditional swing welding interpolation algorithm for six-degree-of-freedom welding robots does not do speed planning in the y-axis direction,a sinusoidal interpolation algorithm based on simulated annealing iteration is proposed.According to the characteristics of the six-degree-of-freedom welding robot,sudden changes in acceleration should be avoided when performing speed planning for it to prevent it from generating certain forces and stresses on the mechanical system,which can lead to undesirable consequences or undesired vibration effects.Using seven-segment acceleration and deceleration speed planning,the planning path is divided into primary acceleration segment,secondary acceleration segment,uniform speed segment,primary deceleration segment,secondary deceleration segment,and tertiary deceleration segment under the conditions of the welding trajectory length,initial speed,final speed,maximum acceleration,minimum acceleration,and acceleration,which can effectively avoid the sudden change of the acceleration,and greatly reduce the stress action and vibration effect on the transmission chain and load of the robotic arm.

关 键 词：正弦插补 焊接 机器人 速度规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]