Welding path planning method based on grid arc welding robot

摘要

In order to solve the problems of low planning efficiency and accuracy in traditional robot welding path planning methods, a grid model based welding path planning method for arc welding robot is proposed. This method simplifies the linkage structure of arc welding robot and constructs the kinematics equation of arc welding robot. According to the kinematics equation, the grid model is constructed to calculate the slope information, roughness and step elevation difference information to complete the welding path planning of arc welding robot. The experimental results show that the proposed method has higher planning accuracy and efficiency than the traditional welding path planning methods.