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基于空间等距线的焊接机器人轨迹优化

刘杰1,2,胡绳荪1,2,申俊琦1,2,庹宇鲲1,2,陈昌亮3

刘杰1,2,胡绳荪1,2,申俊琦1,2,庹宇鲲1,2,陈昌亮3. 基于空间等距线的焊接机器人轨迹优化[J]. 焊接学报, 2017, 38(11): 47-50. DOI: 10.12073/j.hjxb.20151115001
引用本文: 刘杰1,2,胡绳荪1,2,申俊琦1,2,庹宇鲲1,2,陈昌亮3. 基于空间等距线的焊接机器人轨迹优化[J]. 焊接学报, 2017, 38(11): 47-50. DOI: 10.12073/j.hjxb.20151115001

基于空间等距线的焊接机器人轨迹优化

  • 摘要: 针对球管相贯焊缝焊接机器人多道多层焊接中示教时间过长的问题,开展了等距线法机器人焊接轨迹规划的研究,提出了一种基于B样条空间等距线的轨迹优化方法. 在机器人轨迹规划中,将前一道机器人焊接时局部修改过的轨迹投影到理论轨迹的拟合平面,将拟合平面上计算得到的投影曲线法向量作为求解下一道等距线轨迹的实际轨迹法向量;在指定端点切矢条件下,利用最小二乘法生成B样条曲线以逼近等距线,利用等距线生成机器人运动轨迹,从而有效地减少示教时间. 结果表明,利用该方法得到的机器人焊接轨迹能够满足球管相贯焊缝焊接要求.
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    1. 孟美情,韩俭,朱瀚钊,梁哲滔,蔡养川,张欣,田银宝. 基于多丝电弧增材制造研究现状. 材料工程. 2025(05): 46-62 . 百度学术

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  • 收稿日期:  2015-11-14

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