| Robots have been regarded as an effective tool to expand the work ability of human beings.In the process of transforming the world,they are playing a more and more important role.Welding robot is an important branch of robot family,and it is also an important research direction in the field of robot.Joint-type welding robot has been favored by designers and users in the research of welding robot,which is characterized by large working range,flexible action,compact structure and so on.The research on trajectory planning and control of welding robot has been widely concerned by scholars.First of all,this paper introduces the definition,research status and development prospects of the robot.Aiming at the PR1400 welding robot,determine the work scope of the robot through the parameters and structure analysis.And particle swarm optimization algorithm is used to optimize the welding path of certain welding task in the robot’s working range,so as to obtain the shortest path.Secondly,this paper introduces the representation method of space position and attitude of the joint robot,uses the D-H method to establish the link coordinate system of the PR1400 welding robot,and carries out the forward and inverse kinematics analysis,preparation of trajectory planning for PR1400 welding robot.Thirdly,the general method of trajectory planning of welding robot is analyzed.In the joint space,according to the different constraint conditions,three order polynomial interpolation trajectory planning,high order polynomial interpolation trajectory planning,and linear interpolation of parabolic transition trajectory planning on the PR1400 welding robot are respectively carried out.The linear trajectory planning and circular arc trajectory planning are discussed in depth in Cartesian space,and the shortcomings of the different trajectory planning are analyzed.Finally,the virtual modeling technology is applied,and the simulation model of PR1400 welding robot is established in MATLAB.The trajectory of welding process according to the planned of end welding torch trajectory is simulated,and the changes of welding robot kinematics index in the simulation process are focused on.From the consistency of theoretical analysis and simulation results,it is proved that the presented trajectory planning algorithm is effective,reasonable and feasible in trajectory planning. |
