Research On Vision-based Trajectory Planning Of Welding Robot

The application of welding robots in industrial production is very common,and the importance of welding technology in the manufacturing industry has gradually become prominent.Most welding robots currently used in industrial production complete their work by teaching and reproducing,which is cumbersome and inefficient.Combining machine vision and welding robots and planning the welding process can effectively improve the level of welding automation,which is also the future development direction of welding technology.In this article,the welding robot and industrial camera are combined,and a vision-guided welding robot trajectory planning method is proposed: the image collected by the vision sensor is processed to obtain the characteristic coordinates of the center point of the image welding path and then transform it through coordinate transformation.Converted to world coordinates,guide the welding robot to complete the trajectory planning.The specific research content is:Completed the visual sensing hardware system design,analyzed the image preprocessing process,and extracted the skeletal line of the weld image.The calibration of the industrial camera is completed,the camera's internal parameter and external parameter matrix are obtained,and the hand-eye relationship equation of the welding robot is constructed at the same time.A morphological refinement method is proposed to process the welding image,and the refined single-pixel image is obtained.The image processing flow of V-shaped,lap,corner and butt groove welds is analyzed,based on slope analysis,Hough The method of transformation and intersection of straight lines obtains the coordinates of the feature points of the weld image.According to the actual welding requirements,a welding robot kinematics model was constructed based on the ABB IRB1600 robot,and the forward and inverse kinematics analysis and simulation verification were completed at the same time.The trajectory planning was realized by interpolation in Cartesian space,and the trajectory simulation was completed in Matlab software.The model was imported into Robot Studio software,and a welding workbench that was in line with the reality was built.Smart components were created and running programs were written to realize the simulation of the welding trajectory and welding quality of the ABB IRB1600 robot.The final result shows that the welding robot can complete the welding according to the planned path,and the joints in the welding process move smoothly,without impact,and the welding quality is good,which can meet the automatic welding requirements of the actual welding robot.