Research on Sinusoidal Interpolation Algorithm and Welding Speed Planning Based on Simulated Annealing Iteration
Aiming at the disadvantage that the traditional swing welding interpolation algorithm for six-degree-of-freedom welding robots does not do speed planning in the y-axis direction,a sinusoidal interpolation algorithm based on simulated annealing iteration is proposed.According to the characteristics of the six-degree-of-freedom welding robot,sudden changes in acceleration should be avoided when performing speed planning for it to prevent it from generating certain forces and stresses on the mechanical system,which can lead to undesirable consequences or undesired vibration effects.Using seven-segment acceleration and deceleration speed planning,the planning path is divided into primary acceleration segment,secondary acceleration segment,uniform speed segment,primary deceleration segment,secondary deceleration segment,and tertiary deceleration segment under the conditions of the welding trajectory length,initial speed,final speed,maximum acceleration,minimum acceleration,and acceleration,which can effectively avoid the sudden change of the acceleration,and greatly reduce the stress action and vibration effect on the transmission chain and load of the robotic arm.
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