Research on intelligent planning of machining trajectory for metal arc welding robot
Absrtact:In order to solve the problem of low precision of motion planning of metal arc welding robot's machining path,this research proposes an intelligent planning method of arc welding machining path based on improved trapezoidal speed planning algorithm.Firstly,the kinematics model of the robot is constructed according to D-H method,and the dynamic model of the robot is built according to Lagrange method;Then motion planning is carried out by using the improved trapezoidal velocity planning algorithm by acceleration planning;Finally,the motion modification method based on robust control is applied to modify the preliminary motion planning results.The simulation results show that the improved trapezoidal speed planning algorithm has higher precision of motion planning than the trapezoidal speed planning algorithm;The addition of motion correction method based on robust control improves the accuracy and anti-interference of motion planning,and theoretically,can improve the service life of robot joints;This method has good intelligent planning performance for arc welding machining trajectory and basically meets research needs.
metal arc welding robottrajectory planningtrapezoidal speed planning algorithmrobust control
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维普
