Research On Six Degrees Of Freedom Welding Robot Trajectory Planning And Offline Programming Simulation

With the advances in technology and social development, robots are playing an increasingly important role in the human life. Robotics technology is the integration of a high-tech electronic technology, mechanical technology, and other emerging technologies. And at the same time, to improve the accuracy of the robot’s movement is lots of people’s research. With more and more robots in the application of industries, the requirement of robot’s motion planning have become more stringent. Whether waiting in welding, assembly or spray areas, both o n the robot trajectory has a high smoothness requirements. Meanwhile, the development of off-line programming also reduces the difficulty of operating robot, and the robot’s trajectory planning has become more accurate. So this article focuses on both the robot trajectory planning and offline programming simulation.For the study of 6-DOF welding robot kinematics model, we establish the DH linkage coordinate system, and derive the expression of forward kinematics and inverse kinematics solution. For the inverse kinematics, we propose the method about inverse transform, and we use the software Matlab to verify this method. Then we analyze the robot tool coordinate and weldments coordinate to lay the foundation for welding trajectory planning.The robot trajectory planning includes spatial position planning and posture planning. Before planning, we briefly analyze the welding process, and propose the applicable occasions of swing welding. We straight on the line and arc in the space position interpolation planning, and use the method of quaternion to transform the pose matrix between the different robot pose. After that we use the spherical interpolation curve to interpolate robot the robot pose. Then we propose the method of S-ramp deceleration curve to discrete the displacement and normal it. At last, we modify the traditional swing welding trajectory, add transition arc at the speed around the corner, and use the interpolation algorithm to analyze it.Combining with the research and analysis, we use the secondary development about Solidworks API to build model and discrete welding track. We establish the pose coordinates for the discrete points. Then we realize the function of the robot offline simulation using the program through Solidworks API.