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球管相贯焊缝是典型的、复杂的空间曲线。建立简便、准确的相贯线数学模型,是满足焊枪头在加工过程中对姿态要求严格的前提。针对6R工业机器人的特殊结构和在加工过程中焊接工艺的要求,提出了一种控制焊枪头位置和姿态的连续轨迹规划方法,并根据球管相贯的模型特点,给出了一种由球面上三点确定相贯线的焊枪位置插补算法。最后对机器人的轨迹规划方法进行实验分析,证明了该轨迹规划方法能够完成焊接头位置和姿态的有效控制。该方法控制简便、计算量小、通用性强,对工业机器人在加工相贯线焊接时的轨迹规划有重要的参考价值。
Pipe-tube penetration is a typical, complex space curve. The establishment of simple and accurate mathematical model of intersecting line is the prerequisite to meet the rigorous requirements of the welding torch head during the machining process. Aiming at the special structure of 6R industrial robots and the requirements of welding process during machining, a continuous trajectory planning method for controlling the position and attitude of torch head is proposed. According to the characteristics of the model of intersecting pipe, On the three points to determine the intersection of line welding torch position interpolation algorithm. Finally, the trajectory planning method of the robot is analyzed experimentally, which proves that the trajectory planning method can effectively control the position and attitude of the welding head. The method has the advantages of simple control, small amount of calculation and strong universality, which is of important reference value for the trajectory planning of industrial robots when machining intersecting lines.