Research On Path Planning Algorithm Of Spot Welding Robot

Technological development faster and faster,and the fields involved in robots are gradually increasing,from simple object handling to complex spraying,spot welding and other fields.Due to the high labor cost and the low efficiency of traditional welding,spot welding robots gradually replace manual labor,which not only improves welding quality,but also improves welding efficiency.At the same time,more requirements are put forward for the application of spot welding robots,including the movement of the robot between the welding points,the joint movement remains smooth,and the end position reaches the designated welding point accurately;the traditional spot welding path planning is unreasonable,and the path planning needs to have a scientific theoretical basis to ensure the rationality of the spot welding path planning.This article takes the ABB1410 robot as the research object to plan the trajectory of the robot joint space to ensure that the robot reaches each welding spot smoothly and accurately during operation;at the same time,the spot welding path planning of the single and double robots is carried out using an improved genetic algorithm.,To ensure that the total path length of spot welding is the shortest.(1)Analyze the structure of the ABB1410 robot,establish the robot's D-H linkage coordinate system,derive the robot's forward and inverse kinematics equations,and model in MATLAB software to verify the correctness of the kinematics equations.(2)Aiming at the problem of the smooth of the spot welding robot moving between welding points,a variety of robot joint trajectory planning algorithms are compared and analyzed,and the S-curve algorithm is selected to plan the robot joint motion trajectory.The simulation results show that the angle,angular velocity and angular acceleration of the S-curve algorithm are smooth.The spot welding robot can move smoothly between the welding points without jitter.The end of the robot can accurately reach the designated welding point.(3)Aiming at the unreasonable problem of traditional manual planning of spot welding paths,intelligent algorithms are used to plan the spot welding path,the actual spot welding problem is transformed into the TSP traveling salesman problem and a mathematical model is established,with the shortest path as the objective function.The improved genetic algorithm is used to iteratively optimize the spot welding path of a single robot.The simulation results show that the improved genetic algorithm can obtain the shortest spot welding path and effectively solves the problem of unreasonable spot welding path planning.(4)In view of the low efficiency of single-robot spot welding,the dual-robot path planning is studied,Analyze their constraints and objective functions,determine the dual-robot welding spot allocation rules,and transform the shortest path planning problem of the dual robots into the shortest path planning problem of the single robot.Using MATLAB software for simulation,the results show that using this method to plan the shortest path of dual-robot spot welding can improve work efficiency.Therefore,this method has certain practical value and also provides a theoretical basis for spot welding path planning.