Arc Welding Robot Motion Control And Off-line Programming System Research

As a key component of intelligent manufacturing,arc welding robots are designed to play an increasingly important role in today's automated production.In the latest national Internet Plus and Made in China 2025 strategy,the transition of traditional manufacturing towards intelligent manufacturing is explicitly required,and robotics industry plays an irreplaceable role in this transition process.As the first successful application in the automotive,machinery and other industries,the success stories of robotics industry indicates that China's autonomous robot industry is in a rapid development trend.Firstly,the studied 6 axes robot body and the bottom control system are briefly introduced.The robot body is combined with a laboratory developed robot with six degrees of freedom,using six sets of Panasonic AC servo motor,PMAC motion control card is used in bottom control system to do motion control of each axis.Secondly,the positive and inverse solution algorithm and joint space trajectory planning method of arc welding robot kinematics with six degrees of freedom are studied.As studying the robot kinematics and inverse kinematics solution research,detailed calculations are analyzed and worked out.Based on the motion characteristics of robot,the trajectory is decomposed into the location change and posture change,and each of these two processes is given trajectory planning.Thirdly,the stability control and swing control of arc welding robot have been studied,and a wider applicability swing method have been proposed.The general method of stability control generated by adjusting PID parameter settings is provided by some functional components of PMAC software.Analyzing the acceleration and deceleration patterns,the appropriate strategy of acceleration,deceleration and interpolation method are found.Through the study of existing swing method,a possibly new swing trajectory planning method for both plane and space by three parallel track is proposed,it is better versatile for different modes of swinging.Then,based on the study on control technology,the software of arc welding robot control has been designed,and offline programming techniques have been researched.With the principles of human-computer interaction for software design,the PC controlled software is designed to achieve the basic control of arc welding robot.Based on online teaching technology,the offline programming function is designed and implemented with OpenGL-based graphical technology,which could preset a good model for trajectory simulation.By welding experiments and testing in the welding field,after verification by technician,it showed the work finished by the arc welding robot system are able to reach the welding process requirements.