| 摘要: |
| 以RHJD4-1九自由度弧焊机器人系统协调焊接情况为研究对象,提出了以变位机冗余自由度为变量、以保证焊接路径规划成功为约束、以变位机运动变化最小为目标的路径放置规划问题的规划模型,并以1200mm长直对接焊缝为例进行了仿真试验,结果证明该规划模型可以有效地实现由机器人和变位机组成的复杂系统的最优路径放置规划。 |
| 关键词: 弧焊机器人 协调 路径放置规划 |
| DOI： |
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| Path Placement Planning in Coordination Welding for Arc Welding Robot System |
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SONG Yue e, SUN Hua, WU Lin, TIAN Jin song
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National Key Laboratory of Advanced Welding Production Technique, Harbin Institute of Technology, Harbin 150001, China
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| Abstract: |
| The path placement planning optimization model in coordination welding for arc welding robot system is presented based on RHJD4-1 arc welding robot work cell in this paper.The model is subjected to weld path planning,aimed to minimal movement of positioner and considered the positioner redundant degree of freedom as variable.And then one simulation experiment based on 1200 mm long butt weld seam is conducted.Results show that the optimization model can solve the best path placement planning problem. |
| Key words: arc welding robot coordination path placement planning |
