Planning of circle locus for multi-path/multi-layer welding robot with automatical error-correction

摘要

In this paper, a planning algorithm for multi-path/multi-layer circular locus is poposed. The algorithm is applied to weld the nipples on the header of boiler. Multi-path/multi-layer circular locus is planned according to three teaching points, which is lapped head-on-end to satisfy the requirement of technology. For the nipples wherever they are arranged radially or axially, even if there are errors caused by positioning and thermal deformations, providing that nipple's position and orientation relative to the teaching one can be measured, the multi-path/multi-layer circular locus can be planned without teaching any more. The algorithm has been applied in welding robot for manufacturing power station' boiler.