A Method for Planning the Acceleration and Deceleration of the Swing Trajectory of Welding Robot
Swing welding is a common and important method in welding.A acceleration and deceleration planning algorithm is proposed for the working condition where the total running time and total displace-ment of a single swing cycle trajectory segment are fixed.In addition,considering that the swinging paths are all small segments and therefore require frequent starting and stopping,a nine segment fourth-order pol-ynomial acceleration and deceleration algorithm model is proposed to replace the traditional cubic S-shaped acceleration and deceleration.For small line segments with unequal starting and ending velocities,the accel-eration and deceleration time allocation algorithm is adopted to adjust the acceleration and deceleration time reasonably.The proposed algorithm was validated on a self built robot experimental platform.The experi-mental results showed that the algorithm can accurately complete the acceleration and deceleration of swing welding,and during the start stop stage,the robot acceleration is smoother than the traditional S-shaped ac-celeration and deceleration planning.The average peak tracking error of the servo motor is reduced by 2.50％,and the acceleration and deceleration time allocation can be adjusted at small line segments to fully utilize the robot's acceleration performance.
welding robotswing weldingacceleration and decelerationsmooth trajectory transition
万方数据
维普
