摘要
针对金属弧焊机器人加工轨迹运动规划精度低的问题,提出一种基于改进梯形速度规划算法的弧焊加工轨迹智能规划方法。该方法首先根据D-H法构建机器人的运动学模型,根据拉格朗日法构建机器人的动力学模型;然后应用加速度规划改进后的梯形速度规划算法进行运动规划;最后基于稳健控制的运动修正方法对初步运动规划结果进行修正。仿真实验结果表明:相比于梯形速度规划算法,改进的梯形速度规划算法具有更高的运动规划精度;基于稳健控制的运动修正方法的加入,使运动规划精度、抗干扰性都得到提升,且提高了机器人关节的使用寿命;该方法具有较好的弧焊加工轨迹智能规划性能,基本满足研究需求。
In order to solve the problem of low precision of motion planning of metal arc welding robot's machining path,this research proposes an intelligent planning method of arc welding machining path based on improved trapezoidal speed planning algorithm.Firstly,the kinematics model of the robot is constructed according to D H method,and the dynamic model of the robot is built according to Lagrange method;Then motion planning is carried out by using the improved trapezoidal velocity planning algorithm by acceleration planning;Finally,the motion modification method based on robust control is applied to modify the preliminary motion planning results.The simulation results show that the improved trapezoidal speed planning algorithm has higher precision of motion planning than the trapezoidal speed planning algorithm;The addition of motion correction method based on robust control improves the accuracy and anti-interference of motion planning,and theoretically,can improve the service life of robot joints;This method has good intelligent planning performance for arc welding machining trajectory and basically meets research needs.
作者
吕文艳
LÜWenyan(College of Applied Engineering,Urumqi Vocational University,Urumqi 830011,Xinjiang,China)
出处
《模具技术》
2024年第2期26-34,共9页
Die and Mould Technology
基金
新疆维吾尔自治区自然科学基金(编号:2021D01F53)
青岛中油华东院安全环保有限公司课题(AQ20170807)
乌鲁木齐“人才工程”重点培养对象(编号:20191010)。
关键词
金属弧焊机器人
轨迹规划
梯形速度规划算法
稳健控制
metal arc welding robot
trajectory planning
trapezoidal speed planning algorithm
robust control
