CONTINUOUS TRAJECTORY PLANNING FOR WELDING OF COMPLEX JOINTS USING BEZIER CURVE

摘要

Sustainable manufacturing is now extensively cited in the literature; robotic technologies play a vital role in achieving it. The motivation for the use of industrial robots is mainly for their ability to execute programmed, tedious tasks, and to assist workers to perform boring and dirty jobs with the sole aim of advancing productivity and efficiency. For industrial robots to contribute optimally to sustainable manufacturing, trajectory planning plays a key role in achieving this goal. In this paper, a Frenet Serret vectors are used to design a trajectory planning scheme for welding of complex joints, found in railcar manufacturing by using robotic welding application. The geometry of the complex path produce during arc welding is modelled as a Bezier spatial curve. An eight-order septic curve is used to interpolate the trajectory for a continuous motion a priori found in arc welding applications. The objective of the industrial robot manipulator is to follow a prescribed trajectory in the presence of imposed velocity and acceleration continuity constraints. Simulation is carried out to prove the validity of the proposed scheme.