An Optimized Trajectory Planning for Welding Robot

[摘要] 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 are optimized.

[发布机构] Center for Robotics Research, School of Mechanical Engineering, Hubei University of Technology, Wuhan, Hubei; 430068, China^1

[效力级别] 材料科学

[关键词] Affine invariant;Real time performance;Space trajectories;Strong controllability;Trajectory Planning;Trajectory planning method;Welding parameters;Welding process parameters