| With the rapid development of industrial robot technology, industrial robot has become an indispensable tool in efficient industrial production. Based on ROBCAD software, the industrial robot path-planning has been simulated in this paper. During simulation, problems exist in practical application of industrial robot, such as collision. The solutions of path-planning have been discussed and proposed for ensuring safety in practical application.As example the welding of back panel in vehicle body with industrial robot has been studied in this paper. First a detailed research shows in the application of forward and inverse kinematics of industrial robot. Therefore, the kinematics equation can be written easily. A model of robot has been established in MATLAB for a fast solution of problems in forward and inverse kinematics. And through comparing the advantages and disadvantages of path planning algorithms, An ACO algorithm solved path-planning problem in this paper. So, industrial robots welding sequence has been determined preliminary. Based on ROBCAD software, the industrial robot path-planning has been simulated. The related model of welding line was established and simulated by ROBCAD. A detailed analysis shows working space and interference problems of industrial robot. During simulation, problems exist of industrial robot has been solved. And the solutions of path-planning have been discussed and proposed for ensuring safety in practical application. The path-planning was finally determined by ROBCAD. |
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