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An Optimized Trajectory Planning for Welding Robot
- Source :
- IOP Conference Series: Materials Science and Engineering. 324:012009
- Publication Year :
- 2018
- Publisher :
- IOP Publishing, 2018.
-
Abstract
- In order to improve the welding efficiency and quality, this paper studies the combined planning between welding parameters and space trajectory for welding robot and proposes a trajectory planning method with high real-time performance, strong controllability and small welding error. By adding the virtual joint at the end-effector, the appropriate virtual joint model is established and the welding process parameters are represented by the virtual joint variables. The trajectory planning is carried out in the robot joint space, which makes the control of the welding process parameters more intuitive and convenient. By using the virtual joint model combined with the B-spline curve affine invariant, the welding process parameters are indirectly controlled by controlling the motion curve of the real joint. To solve the optimal time solution as the goal, the welding process parameters and joint space trajectory joint planning are optimized.
- Subjects :
- 0209 industrial biotechnology
Mathematics::Complex Variables
Computer science
Motion (geometry)
ComputerApplications_COMPUTERSINOTHERSYSTEMS
02 engineering and technology
Welding
Mathematics::Geometric Topology
Physics::Geophysics
Statistics::Computation
law.invention
Controllability
Robot welding
020901 industrial engineering & automation
law
Trajectory planning
Control theory
0202 electrical engineering, electronic engineering, information engineering
Trajectory
Physics::Accelerator Physics
Robot
020201 artificial intelligence & image processing
Joint (geology)
Subjects
Details
- ISSN :
- 1757899X and 17578981
- Volume :
- 324
- Database :
- OpenAIRE
- Journal :
- IOP Conference Series: Materials Science and Engineering
- Accession number :
- edsair.doi...........34622e15315b52e939c8606f42b107bb