Research On Trajectory Planning And Control Of Dual Robot Cooperative Welding Based On ROS

The traditional robot welding can only be applied to the relatively simple arc welding and spot welding.For the complex space intersecting the weld seam where the nozzle and the container intersect,considering the complexity of the welding trajectory and the welding welding process requirements,the traditional welding robot is completed.This type of welding task is quite difficult.With the development of industrial robot technology,the dual-robot cooperative motion method has been gradually researched and adopted.In this paper,the two-robot cooperative motion is completed for the more complex spatial intersecting line welding task,combined with the actual situation of the welding robot and the welding process requirements for the dual robot.The research on welding trajectory planning and system control is summarized as follows:Firstly,combined with the actual situation of the welding robot and the welding process requirements,the structural characteristics of the welding robot are analyzed and the forward and inverse kinematics of the welding robot is solved.At the same time,in order to improve the precision of welding motion,a simultaneous calibration method based on vision for dual robots is proposed.In the simultaneous calibration method,the kinematics model of the dual robot welding system is analyzed firstly.The relationship between the hand-eye relationship and the pedestal coordinate system needs to be obtained from obtaining the complete and accurate kinematic chain,and then different methods are used to solve the two relations.Analysis,design of a dedicated calibration tool,and simultaneous calibration experiments in two FANUC 200 ID.The error of the experimental verification is within 0.1mm,which indicates that the method is effective and feasible.Secondly,in path optimization and trajectory planning,the selection of the robot's runtime is analyzed firstly,and the motion cost is used as the optimization target combined with various constraints to optimize the path.Then the interpolated analysis of the spatial intersecting line trajectory is performed and inserted.Make up the double robot motion decomposition.The interpolation trajectory operation is performed in MATLAB,and the second development of Robot Studio is introduced into the trajectory point for simulation motion experiment.The simulation results show that the path optimization algorithm improves the motion efficiency of 17.64%,and the dual robot cooperative welding motion method is feasible and effective.Finally,in order to realize the motion control of the above method in the physical robot,the simulation platform is built with the ROS system framework,the URDF model is constructed,Rviz visualization,Movelt! Motion configuration,finally configure the interface file of the control system and the physical robot to successfully complete the synchronization of the physical robot and the control system platform.