Research On The Coordinated Control Method Of Six-Axis Robot And Positioner

When an arc welding robot is used to weld complex parts,continuous welding is generally required in order to ensure the welding quality.Because of the complexity of the seam and the clamping requirement of the workpiece to be welded,it is often necessary to change the position and posture of the workpiece during the welding process with a positioner.As the six-axis robot and the positioner of many domestic enterprises cannot move simultaneously,a coordinated control method for the six-axis robot and the positioner is proposed to improve the welding quality and efficiency.The main research results of this thesis are as follows:(1)A coordinated control scheme for the six-axis robot and positioner is proposed,and a software is developed to plan the trajectory of the robot.With respect to the motion scheme of the positioner,the requirements of welding parameters,as well as the size and space position of the workpiece,the trajectory of the six-axis robot can be planned with the software.(2)A coordinated control system for the six-axis robot and positioner is set up.The communication between six-axis robot and positioner,and the motion control of the positioner are implemented with a AMP-204 C control board.(3)A human-computer interface is developed,and welding experiments are carried out to improve the system.The coordinated control of the robot and the positioner has been implemented in this thesis,and the system has been delivered to the user.Furthermore,a feasible reference scheme is provided for the upgrading of similar robot systems.