相贯线接缝自动焊接实时插补控制算法与仿真

在一种专用焊接机床的基础上，以圆柱管之间连通焊接形式为例，介绍了实现复杂相贯线接缝自动焊接的可控步长实时插补控制算法，重点研究了保持焊接速度恒定以及满足给定逼近误差条件时，利用等长直线段拟合复杂空间曲线的插补计算处理方法。以一种通用的圆柱管之间连通焊接应用为例，进行了实时控制算法计算说明，并且利用OpenGL工具软件，对插补合成运动轨迹进行了动态仿真。仿真结果表明，该实时插补控制算法是可行的。

A Real-time Interpolation Algorithm and Simulation for Seam of Intersection

Based on a special welding machine, it introduces a real-time interpolation algorithm with controllable step length for line of intersection in automatic welding, the concrete method is that using liner portions with same length to approximate the complicated space curve under the conditions of keeping constant welding speed and satisfying the given approximation error. It takes the general connection form of cylinder pipe for example to illustrate the algorithm, and then using OpenGL to simulate the composite motion track. Simulation results show that the real-time interpolation algorithm is workable.