Kinematic Analysis And Simulation Of Off-line Programming System For Welding Robot

Under the backdrop of the application of welding robot in the automatic welding production line of the rear end of the container, this dissertation studies the relevant technologies of kinematic analysis, trajectory planning and three-dimensional simulation in the off- line programming system for welding robot. The research has covered the space model module, motion simulation module, trajectory planning module, calibration module and communication interface module, which has built up the framework of the off- line programming system. Therefore the interactive control of the virtual environment by the off-line programming system is established.First of all, the kinematic model of the robot is constructed and the analysis has been made on the problems of robot kinematics, the calibration and singularities. Therefore, the algorithm for the singular region has been determined and simulated as well. Then a research is carried out on the welding gesture and trajectory planning algorithm for the robot’s moving route in the Cartesian space, the linear interpolation and space circular interpolation algorithm for moving route is also introduced. O n this basis, this dissertation proposes the line-connecting- line, line-connecting-arc trajectory interpolation algorithm, with the Bezier curve being used as a transition. In order to realize the graphic simulation function of the off- line programming system, this research, using the OpenGL for the graphs, combines the OpenGL and SolidWorks and makes use of their respective advantages. First it utilizes the strong modeling function of the Solid Works to build up the three-dimensional model of the robot and its workspace, then it imports the three-dimensional model into the OpenGL to do photorealistic rendering and with the method of matrix transformation, the visible simulation of the three-dimensional graphs is finally carried out.At last, to meet the practical needs of the project, we use the GR-C industrial robot as the experiment platform and exercise the trajectory planning to the typical workpiece of this project in physical environment, sending the motion instruction produced by the off- line programming system to the robot controller to drive the robot to move. As a result, the proposed algorithm proves to be correct and practical.