Master - Slave Coordination Control Of KUKA Robot And Its Application In Arc Welding

With the continuous development of the manufacturing industry,the application of industrial robots is becoming more and more extensive.The execution ability of a single robot under the circumstance of complex and changeable tasks is obviously insufficient.Multi-robot system emerges at the historic moment and gradually becomes one of the research hotspots in the field of robotics.This paper takes the coordinated welding operation of two KUKA robots as the research object,analyzes and studies the mathematical modeling,calibration between the base coordinate system,kinematic constraint relationship,teaching method,collision avoidance and other problems of the double robot,and builds the double robot arc welding workstation.The main contents are as follows:Firstly,d-h method is used to establish the mathematical model of kuka KR 16L6 robot,and the forward and inverse solutions of robot kinematics are calculated,which lays a foundation for the kinematics of double robots.This paper presents a simple,fast and accurate four-point calibration method for coordinate calibration of cooperative robot,and analyzes the principle and steps of the calibration method.Then,whether relative motion exists in the end-effector of the double robot,the double robot operation is divided into coupling motion and superposition motion,kinematic constraint analysis is carried out on the two operation modes,and the teaching method is presented and verified by simulation in MATLAB.The concept of collision map was proposed to integrate the position and time information of the robot under the condition of the optimal trajectory of the dual robot,and the minimum delay time was calculated by using the boundary contour following method to plan the optimal collision avoidance trajectory of the dual robot.And the time delay program of interference zone is set in industry.Finally,according to the process characteristics and actual production requirements of arc welding robot,a double robot arc welding workstation is built.In order to extend the external axis of the main robot with WorkVisual for the experiment of horizontal welding position,the degrees of freedom were extended from 6 to 9.The hierarchical division of the welding task was analyzed.According to the characteristics of the workpiece and the site process requirements,the movement trajectory of the double robot was planned.Finally,the coordinated welding of the double robot was realized,and the adaptability and efficiency of the double robot in arc welding were verified.