Path Planning Research Of Welding Robot Based On Collision Avoidance

The welding robot plays an irreplaceable role in the process of industrial automation.Compared to the human,it can adapt to more complex and harsh environment,and have high precision of welding,good reproducibility,which greatly improved working conditions,reduce the labor intensity of the workers.But it is undeniable that the current research on the welding robot still exists some problems: such as welding structure complexity,demand flexibility,welding environment is complicated,which made higher demands for the welding robot.This thesis takes Oude Kyrgyzstan welding robot as the research object,the robot path planning as the main line,the research depend on it.First of all,I establish the mathematical model of Oude Kyrgyzstan welding robot,the kinematics analysis of the joints between the pose transformation relation are also be done,and then I establish the Jacobi matrix elaborates on its velocity planning.Secondly,I used the algorithm of sphere bounding box to analyze the process of collision detection,and then the improved probability graph method is used to plan the path,and the corresponding smooth processing is carried out.Thirdly,the joint position of the welding torch is designed,and take the saddle shaped weldment as an example.At the end of this thesis,I use the MATLAB-GUI graphical interface function to build virtual modeling and visualization of Oude Kyrgyzstan robot,and I also use collision detection and path planning to achieve the algorithm,and make a path planning reduce to less than 3s.These will be lay a good foundation for the later research or application.