Linear swing welding algorithm based on spatial transformation principle
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摘要: 文中提出了一种基于空间变换原理的直线摆焊算法. 通过建立摆动基础平面的方式将三维空间摆动问题化简到二维空间中求解，首先通过部分示教参数求出摆动基础平面中的基础摆动点，然后利用示教参数求解摆动平面与摆动基础平面的坐标变换矩阵. 通过坐标变换矩阵将摆动基础平面中的基础摆动点映射到摆动平面，得到最终的摆焊轨迹. 结果表明，算法具有输入参数多，轨迹运算速度快，程序编写简单等特点，是一种具有实用价值的直线摆焊算法.Abstract: The paper presents a linear swing welding algorithm based on the principle of space transformation. The three-dimensional swing welding problem is simplified to the two-dimensional space by establishing the swing base plane, after solving the basic swing point in the base plane, the transformation matrix of the swing plane and the base plane can be solved using the teaching parameters. The basic swing point is mapped to the swing plane by the transformation matrix to obtain the final trajectory for the swing welding. The simulation results showed that the algorithm possesses more input parameters and a quick speed for the solution of trajectory. It is a swing welding algorithm with practical value.
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Keywords:
- swing welding /
- space transformation /
- trajectory planning
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