Research And Implementation Of Trajectory Optimization About Welding Robot Of Automobile Production Line

Industrial robots is important in modern manufacturing factory automation equipment,which integrates a variety of disciplines such as machinery,electronics,control,computer,sensor,advanced technology and artificial intelligence.In the practical application of industrial robots,the working efficiency and quality are important indicators to measure the performance of robots,improve the working efficiency of the industrial robot,reduce the error of actual operation become the key problems needed to resolve industrial robot application.Based on robot the body shop under body in a car factory production and manufacturing as the research background,the application of the analysis of body shop process factory,use 6640 235/2.55 six axis robot as the research object.For calibration origin of coordinates with flange wear to re-mark difficult and according to the linear track mobile robot work stop and cycle time long problem,the TCP coordinate transform,the four points method is used to create a new TCP origin of coordinates,Cartesian space for industrial robots linear trajectory optimization,and the curve is applied to the actual workstation,robot to improve the efficiency and quality of evaluation index.The main contents are as follows:(1)On the basis of detailed analysis of 6640 235/2.55 robot structure,aiming at application in practice,the database the origin information loss,flange origin can’t calibration again,the problem of large work error,in the center of the shaft flange 66640 235/2.55 robot origin of coordinates for the tool,using the four points method,measure the four new coordinates relative to the origin of the space vector,computing the quaternion matrix,and combined with six axis rotation Angle,through the robot teach pendant,choose the system database,record the data for the tool,the new TCP coordinate calibration,make the new calibration TCP coordinate origin including tool axis coordinates and rectangular coordinates and without tool axis coordinates and rectangular coordinates,to reduce the robot operation error,improve accuracy of operation.(2)After doing the TCP for robot calibration,in view of the industrial robot line trajectory planning in the process of work stop,and beat the longer problems,we use setting robot outside shaft rotating radius and TCP rotating radius in the region and increasing drift method,to 6640 235/2.55 path optimization,design the mobile robot curve of robot trajectory planning,and call in the robot teach pendant database command,after a Cartesian space straight trajectory and the trajectory analysis curve,complete the drift setting,the optimization to find the trajectory of implement in practice.