Trajectory Planning Of Robot In Welding

First, introduces the development process and application of robot, and presents the development and current study situation of welding robot in some detail. The robot off-line programming technology discussed.Second, the kinematics analysis of 6R-welding robot is given, the kinematics equation of welding robot are set up, and the back-kinematics equation of the robotic are analyzed and solved with symbolic computation in MATLAB.Third, the trajectory planning of robot is introduced. The methods of trajectory planning and trajectory generating are analyzed both in joint coordinates space and Cartesian coordinates space based on kinematics of robot. The planning methods of different moving ways under these two spaces are also analyzed. The interpolation errors methods are used in trajectory planning, and the advantages and shortcoming of each method are discussed.Finally, the trajectory plans space straight line and circle job of welding robot is taken as an example. Interpolation errors for trajectory are carried out and interpolation errors points are gained. The interpolation errors points are then put into module in ROTSY. The trajectory is animated, and the robot job is programmed for controls. In conclusion, robotic trajectory planning can make robot work better and quicker.