Welding trajectory planning based on piecewise interpolation
In the welding process,the working angle,walking angle and speed of welding torch needs to change with the weld position and shape of the workpiece materials,so needs to plan for the above parameters in the process of welding.In response to the above-mentioned problems,the welding trajectory planning study was conducted for straight,circular and curved trajectories commonly used in welding;the speed,working angle and walking angle of the welding torch during welding were used as parameters for joint planning of robot end speed,attitude and trajectory.In the analysis of curved welding trajectories,a trajectory planning algorithm based on slope interpolation was proposed to achieve smooth transitions for adjacent segments of trajectories.Finally,using the three welding trajectory planning algorithms,the welding trajectory planning simulation of the catalyst plate unit box was carried out in a segmented articulated combination.
welding robotwelding trajectory planningcatalyst plate unit box
NETL
NSTL
万方数据
维普
