A novel 8-shape trajectory weaving welding control algorithm with auto-adjust welding torch attitude

Aiming at the problem of low efficiency due to narrow single-pass welding seam during welding robot welding and long time-consuming torch posture teaching, this paper proposed a novel 8-shape trajectory weaving welding control algorithm with an auto-adjust welding torch attitude. First, the welding seam of any welding torch posture was manually taught and the welding plane was calculated according to the input welding torch working angle. Second, an 8-shape trajectory model was generated by using multiple weaving parameters, such as swing amplitude, dwell time, and the number of periodic interpolation points. Then, the walking angle of the welding torch was added to the welding torch coordinate system to adjust the posture value of each interpolation point. Finally, the weaving welding track was obtained by the combination of the path and posture of the welding torch. Simulation and welding experiment results showed that the 8-shape weaving welding algorithm with adjustable welding torch can obtain a wider weld to improve welding efficiency and quickly change the welding torch posture, reducing the difficulty of teaching. It was proved that this algorithm is feasible and can be applied to practical welding engineering.