• CN:11-2187/TH
  • ISSN:0577-6686

›› 2005, Vol. 41 ›› Issue (5): 215-220.

• 论文 • 上一篇    下一篇

移动焊接机器人坡口自寻迹位姿调整的轨迹规划

张轲;吴毅雄;金鑫;吕学勤   

  1. 上海交通大学材料科学与工程学院
  • 发布日期:2005-05-15

TRAJECTORY PLANNING OF POSTURE ADJUSTMENT OF WELDING MOBILE ROBOT DURING AUTO-SEARCHING WELD LINE

Zhang Ke;Wu Yixiong;Jin Xing;Lü Xueqing   

  1. School of Material Science & Engineering, Shanghai Jiaotong University
  • Published:2005-05-15

摘要: 主要研究移动焊接机器人在自寻迹过程中位姿调整的轨迹规划。在焊前,根据坡口识别特征模型寻找到焊接坡口并得到机器人与焊缝坡口的夹角后,对机器人本体和焊炬的位姿进行轨迹调整是自寻迹过程中非常关键的一步。首先讨论了具有自寻迹功能的移动焊接机器人的系统组成,在分析移动机器人运动学模型的基础上,对焊接坡口自寻迹过程中的位姿调整轨迹进行了规划,最后根据机器人自身的结构对调整轨迹进行了修正。试验结果表明:将该算法用于坡口自寻迹过程中的位姿调整,其误差精度可控制在±1.5 mm左右,满足实际焊接工程需要。

关键词: 轨迹规划, 位姿调整, 移动焊接机器人, 自寻迹

Abstract: he trajectory planning of posture adjustment is presented for a weld mobile robot during auto-searching weld line. It is a critical step to adjust the posture of the body of mobile robot and torch to desired status preparing for welding after the weld groove has been recognized according to the model of groove recognition characteristics and the angle between robot and weld line is solved according to some algorithm. Firstly, the configuration of welding mobile robot with the function of auto-searching weld line is introduced, then the trajectory of posture adjustment is planning during auto-searching weld line on the basis of kinematics of mobile robot, at last the trajectory of posture adjustment is modified according to the structure of mobile robot itself. The experiment result is shown that error precision of posture adjustment could be controlled to approximate ±1.5 mm when the above algorithm is applied to the posture adjustment during auto-searching weld line and could be suited for real welding project.

Key words: Auto-searching weld line, Posture adjustment, Trajectory planning, Welding mobile robot

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