Trajectory Playing Of Double Robot Welding Collaborative Operation

In recent years,welding technology has made tremendous progress in innovation and development.At the same time,robots play an increasingly important role in the field of automated welding,which is fully reflected in the improvement of the efficiency of welding operations,while the reliability of welding products has also been improved.In the actual production process,a single robot will face the welding task of a relatively complex space weld,and there are four possible welding methods: downward welding,horizontal welding,vertical welding and overhead welding during the welding process,and the effect and quality of the four welding methods are different.In order to ensure the consistency of the quality and achieve the normalization of the welding method,it is necessary to solve the problem by working together with multiple robots.Therefore,the research on the cooperative operation between two or more robots and how to transform the all-position welding operation into the welding task under the same welding type have very important practical significance.In this paper,the pose transformation problems involved in the implementation of flat welding of welding seams with arbitrary space curves and the problems such as the collaborative control of the two robots are discussed.It focuses on the in-depth research in the aspects of robot collision detection,mathematical modeling of arbitrary space curves and trajectory planning of the robot.The main contents are as follows:Firstly,according to the pose description method of the object in three-dimensional space and the transformation equation of the three-dimensional coordinate system,the industrial robot with six-degree-of-freedom involved in this paper is modeled and analyzed,and the coordinate system of such dual-robot collaborative operation system is established.After derivation,the mathematical expression is used to express its kinematics relationship.Then,based on the forward kinematics equation of the robot,the effective working space of the dual robot cooperative work is solved.Secondly,the spatial curve welds are classified and analyzed according to the complexity of the space weld curve and the application of the actual operation,and the intersecting linear welds formed by the tube-tube intersection are analyzed in depth.The mathematical model of the intersecting linear weld and the weld feature coordinate system of the discrete weld bead based on the ship-shaped welding type are established.Thirdly,based on the separation axis theory,the OBB bounding box algorithm is used to detect the safety distance between the robots,and the traditional collision detection algorithm logic is analyzed and improved.Furthermore,the rejection field model is built for the position where the robot can interfere with each other,which improves the efficiency of collision detection and solves the obstacle avoidance problem of trajectory planning between the two robot systems.Finally,this paper builds a dual robot welding cooperative operation system with two YASKAWA industrial robot,and plans the trajectory of the two robot based on the ship-shaped welding type,then,the experiment is carried out by the actual welding task,and the correctness of the proposed method is verified.