焊接机器人焊接工艺参数与空间轨迹联合规划
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摘要
为提高焊接效率,改善焊接质量,对焊接机器人焊接工艺参数与空间轨迹进行联合规划,提出一种实时性高、可控性强、焊接误差小的轨迹规划方法。通过在执行器末端增加虚拟关节,建立合适的虚拟关节模型,并将焊接工艺参数用虚拟关节的关节变量表示,在机器人关节空间进行轨迹规划,使得焊接工艺参数的控制更加直观、便捷。利用虚拟关节模型结合B样条曲线仿射不变的特性,通过控制真实关节的运动曲线,来对焊接工艺参数进行间接控制。以求解最优时间解为目标,进行焊接工艺参数与关节空间轨迹的联合规划。采用ABB Robotstudio工具软件进行仿真,编写焊接机器人作业程序,以平面直线型焊缝为例进行试焊,结果显示该方法是可行的,有效的。
In order to improve the welding efficiency and quality,this paper studies the combined planning between welding parameters and space trajectory for welding robot and proposes a trajectory planning method with high real-time performance,strong controllability and small welding error. By adding the virtual joint at the end-effector,the appropriate virtual joint model is established and the welding process parameters are represented by the virtual joint variables. The trajectory planning is carried out in the robot joint space,which makes the control of the welding process parameters more intuitive and convenient. By using the virtual joint model combined with the B-spline curve affine invariant,the welding process parameters are indirectly controlled by controlling the motion curve of the real joint. To solve the optimal time solution as the goal,the welding process parameters and joint space trajectory joint planning. Under the simulation with ABB Robotstudio software on the flat linear welding,the results showthat the method is feasible and effective.
In order to improve the welding efficiency and quality,this paper studies the combined planning between welding parameters and space trajectory for welding robot and proposes a trajectory planning method with high real-time performance,strong controllability and small welding error. By adding the virtual joint at the end-effector,the appropriate virtual joint model is established and the welding process parameters are represented by the virtual joint variables. The trajectory planning is carried out in the robot joint space,which makes the control of the welding process parameters more intuitive and convenient. By using the virtual joint model combined with the B-spline curve affine invariant,the welding process parameters are indirectly controlled by controlling the motion curve of the real joint. To solve the optimal time solution as the goal,the welding process parameters and joint space trajectory joint planning. Under the simulation with ABB Robotstudio software on the flat linear welding,the results showthat the method is feasible and effective.
引文
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[12]吕世增,张大卫,刘海年.基于吴方法的6R机器人逆运动学旋量方程求解[J].机械工程学报,2010,46(17):35-41.
[13]Park F C,Bobrow J E,Ploen S R.A Lie Group Formulation of Robot Dynamics[J].International Journal of Robotics Research,1995,14(6):609-618.
[14]周红梅,王燕铭,刘志刚,等.基于最少控制点的非均匀有理B样条曲线拟合[J].西安交通大学学报,2008,42(1):73-77.
[15]朱世强,刘松国,王宣银,等.机械手时间最优脉动连续轨迹规划算法[J].机械工程学报,2010,46(3):47-52.
[2]付晓龙,何建萍,王付鑫.焊接机器人轨迹规划的研究现状[J].轻工机械,2015,33(2):110-113.
[3]Abdelmalek K,Yeh H J.Path Trajectory Verification for Robot Manipulators in a Manufacturing Environment[J].Proceedings of the Institution of Mechanical Engineers Part B Journal of Engineering Manufacture,2000,211(7):547-556.
[4]Pachidis T P,Lygouras J N.Vision-Based Path Generation Method for a Robot-Based Arc Welding System[J].Journal of Intelligent&Robotic Systems,2007,48(3):307-331.
[5]张轲,吴毅雄,金鑫,等.移动焊接机器人坡口自寻迹位姿调整的轨迹规划[J].机械工程学报,2005,41(5):215-220.
[6]汪苏,蔡玲玲,苗新刚,等.骑座式相贯线焊缝焊接机器人连续轨迹规划[J].焊接技术,2010,39(7):44-47.
[7]汪苏,苗新刚,李晓辉.基于模糊控制的焊接机器人焊枪姿态规划[J].北京航空航天大学学报,2010,36(7):771-775.
[8]Chen C,Hu S,He D,et al.An approach to the path planning of tube-sphere intersection welds with the robot dedicated to J-groove joints[J].Robotics and Computer-Integrated Manufacturing,2013,29(4):41-48.
[9]王晓峰.弧焊机器人焊接姿态与焊接工艺参数联合规划[D].南昌:南昌航空工业学院,南昌航空大学,2006.
[10]卢宏琴.基于旋量理论的机器人运动学和动力学研究及其应用[D].南京:南京航空航天大学,2007.
[11]Park F C.Computational aspects of the product-of-exponentials formula for robot kinematics[J].IEEE Transactions on Automatic Control,1994,39(3):643-647.
[12]吕世增,张大卫,刘海年.基于吴方法的6R机器人逆运动学旋量方程求解[J].机械工程学报,2010,46(17):35-41.
[13]Park F C,Bobrow J E,Ploen S R.A Lie Group Formulation of Robot Dynamics[J].International Journal of Robotics Research,1995,14(6):609-618.
[14]周红梅,王燕铭,刘志刚,等.基于最少控制点的非均匀有理B样条曲线拟合[J].西安交通大学学报,2008,42(1):73-77.
[15]朱世强,刘松国,王宣银,等.机械手时间最优脉动连续轨迹规划算法[J].机械工程学报,2010,46(3):47-52.