Study On Robot And Positioner Welding Path Planning

As robot processing technology becomes more and more mature,robots play an important role in changing traditional processing methods.In order to apply the robot to various processing occasions,it is necessary to ensure the accuracy of the robot and use off-line programming technology to realize the processing of different trajectories.This paper starts from improving the accuracy of robot and the application of robot in the field of welding,uses DynaCal equipment that based on single-line one-dimensional measurement system to study the accuracy of the robot and sets up the off-line programming environment;studies the strategy of robot coordinates with the single-rotation positioner and promotes an adaptive coordinated motion strategy;promotes coordination motion strategy of the robot and the dual rotary positioner to meet the requirements of the welding position in the welding process and particle swarm optimization algorithm based on multi-objective optimization function to optimize the smoothness of the welding torch.In the research of the robot's accuracy,this paper uses DynaCal equipment that based on the single-line one-dimensional measuring system to study the robot calibration process,and uses the Compu Gauge robot performance testing system to verify the accuracy of the robot.In the study of the strategy of coordinated movement between robot and single rotary positioner,this paper agrees a references vector and the suitable process region distributes around the vector,promotes an adaptive coordinated motion strategy and testifies the strategy uses the plane curve and the three-dimensional space curve trajectory in InteRobot.In welding field,the use of two additional degrees of freedom by dual rotary positioner to rotate the work-piece to a suitable welding attitude and to ensure the weld torch moves stable,this paper establishes a corresponding multi-objective performance optimization function and uses particle swarm optimization to find the suitable angles of weld torch.Finally,this paper uses robot controller to collect the speed of the robot's main joints and the linear velocity of the robot's end effector which verifies robot move after optimization is more stable.Based on the above research,this paper verified the relevant algorithm on an off-line programming software platform,proves that the feasibility of the related technologies proposed.