基于有理B样条曲线的焊接机器人操作空间轨迹规划

摘要

对空间复杂曲线机器人轨迹规划问题进行了研究.通过SolidWorks软件提取三维模型上焊缝曲线的IGES数据文件,将曲线分为直线、圆弧、有理B样条曲线形式;建立曲线路径点离散算法模型,并根据工件特征进行各路径点的焊枪坐标系路径规划工作.在VBA环境下编制规划程序,并传送给Robotstudio软件.仿真和焊接实验表明:该算法相比人工示教工作可以快速完成焊接机器人的路径规划工作.%The trajectory planning of complex space curves of welding robot was studied. The IGES data file of 3D model was extracted by SolidWorks software, the curve is divided into straight line, circular arc and rational B spline curve. The curve path point discrete algorithm model was established, and the torch and coordinate path planning work of each path points had been carried according to the characteristics of workpiece. Programming in VBA environ-ment was transfered to Robotstudio software. The results of simulation and experiments were comprehensively an-alyzed, which showed this algorithm can more quickly complete the fast path planning of welding robot than man-ual teaching.