Research And Simulation Of The Trajectory Planning Of Welding Robot

In the several decades recently, along with the rapid development of science and technology, the research of robot has made significant progress. In the industrial field, more and more people feel that the robot technology bring them huge changes and ascension, it is a reality that robots have replaced humans' production. As one of the technological leader, welding robots have been focused on by researchers, and the researches and improvement of the welding robot have never been stopped.First of all, the article gives a brief introduction on the concept of welding robots' trajectory planning, and points out that the simulation plays an important role of development of robotics research. Then, it focuses on IRB2400 robot which belongs to ABB company and make it as the research object. Besides that, the working space of robot-pose is described. Combined with D-H matrix method for mathematical model's establishment in this paper, we make a concrete analysis of the robots' kinematics issues,especially positive motion and inverse movement, and carries on a solution. After the detailed introduction and comparison of the joint space trajectory planning with cartesian coordinate space trajectory. Combined with ADAMS to get two categories of trajectory planning methods for interpolation algorithm. We did a simple test and the accuracy of the method is verified by simulation results. Finally, one of custom path planning of a welding tasks is designed out for each joint, thus, we complete various turning points in the process of the welding torch posture adjustment. We got the complete simulation animation from ADAMS, and make analysis of each joint through the related parameters of post-processing function of ADAMS. The paper aims to provide theoretical basis for the operation of the welding robot and improve the efficiency of work.