基于关节空间与工作空间协同的6R点焊机器人路径规划方法

为实现6R点焊机器人动态性能优、焊接路径短的规划目标,提出在关节空间采用5次多项式规划其转角运动,以确保机器人从任一焊点到相邻焊点时的动态特性;基于组合数学原理,枚举点焊机器人工作时遍历所有焊点的可能路径集合,结合关节空间与工作空间映射关系和各可能路径长度动态积分的数值计算,给出最优焊接路径排列顺序。最后通过算例对该规划方法进行了验证。

PATH PLANNING METHOD FOR 6R SPOT WELDING ROBOT BASED ON COLLABORATION BETWEEN JOINTSPACE AND WORKSPACE

In order to achieve the planning objective of the optimal dynamic performance and shortest welding path for 6R spot welding robot, we adopt 5 times polynomial planning for angle displacement in jointspace which dynamic characteristics of the robot are ensured when it moves from any welding point to the adjacent welding point. The set of the possible ergodic paths of the spot welding robot passing all welding points are listed based on the principles of combinatorial mathematics. The optimal welding path sequence is given by combining with the relationship between jointspace and workspace mapping. Furthermore, we present all possible path length dynamic numerical. Finally, the planning method is verified by an example, which is discussed in the last part.