Robot Welding Trajectory Planning and High Frequency Control for Curved Seams

被引：0
|
作者：
Wu C. [1 ]
Zhao S. [1 ]
Lei T. [1 ]
机构：
[1] School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan
来源：
Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2023年 / 34卷 / 14期
关键词：
B-splinc curve; external guided motion(EGM); interpolation; trajectory planning; welding robot;
D O I：
10.3969/j.issn.1004-132X.2023.14.009
中图分类号：
学科分类号：
摘要：
In a robotic real-time seam tracking system, the trajectory planning and control delay affected the tracking accuracy and welding quality. To solve this problem, a piecewise real-time trajectory planning and control method for curved seams was proposed by combining B-splinc curve interpolation algorithm and EGM module. Firstly, the trajectory was segmented according to the principle of optimal interpolation time. Secondly, three times non-uniform B-spline was used to interpolate each trajectory to obtain the interpolation points. Finally, the high-frequency controller of the robot was designed. The interpolation points were sent to the robot by EGM module in a cycle of 4 ms to guide the robot movements. The experimental results show that this method may complete the planning of sine curve weld and guide the robot welding in 100 ms, and the tracking errors were controlled within + 0.2 mm, which realizes the rapid trajectory planning and high-frequency control. © 2023 China Mechanical Engineering Magazine Office. All rights reserved.
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页码：1723 / 1728
页数：5
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