| With the industrial upgrading of the manufacturing industry,the intelligent welding robot workstation has entered a golden period of rapid development.Complex space curve path planning is an important task of welding robot workstations.It requires the robot arm and the positioner to have coordinated motion,and finally realize the decision and complete the path planning.In this paper,the three-dimensional multiobstacle obstacle avoidance and path planning algorithm of the welding robot workstation is the research goal.The whole arm avoidance path planning of the manipulator,the multi-axis linkage of the manipulator and the positioner,and the construction of a wide range of portability The sports experiment platform,which has three theoretical and practical engineering values,carries out systematic research and completes the research work in three aspects.A three-dimensional multi-obstacle robot full-arm obstacle avoidance path planning algorithm based on the force field method is used to solve the path planning of the robot arm in the presence of multiple obstacles in the working space.The virtual driving force of the manipulator is obtained by establishing the force field.When the Cartesian virtual driving force is obtained,the force domain Jacobian matrix is used to convert it to the joint torque,and the joint is driven by the torque.The collision detection of the manipulator and the space obstacle is realized by the step-by-step collision detection based on the bounding sphere.The collision detection algorithm can not only realize the collision detection,but also the collision joint space,which can provide the best for obstacle avoidance path planning.Avoid collision joint points.Experimental simulation results show that the algorithm can achieve efficient obstacle avoidance path planning in the case of multiple obstacles.Based on the task constraint,the multi-axis linkage algorithm of the robot and the positioner realizes the complex space curve path planning of the robot welding system(mechanical arm and positioner).The task constraint is used to degrade the 8-DOF welding system(mechanical arm and positioner)into a solvable 6-degree-of-freedom system,which improves the working space and dexterity of the single-arm 6-degreeof-freedom robot.Then,for the coordinated control of the positioner and the manipulator,the collaborative planning algorithm based on the positioner of the positioner and the manipulator as the slave module is derived.The experimental results show that the algorithm can complete the path planning of complex space curves.MotoPLUS-based robot motion control builds a motion planning experimental platform to avoid the technical constraints of Yaskawa control cabinets,and realizes complex space curves without changing the hardware and underlying control codes of existing robot welding systems(mechanical arms and positioners).The function of path planning.Realize network communication with the host computer to control the robot,data processing and JOB control tasks,and remote host computer to robot motion control tasks.Finally,the above path planning algorithm is experimentally verified in the framework of the built robot system.The experimental results show that the intelligent robot system built in the multi-obstacle workspace can smoothly and quickly complete the obstacle avoidance function and space trajectory planning.The built-up PC algorithm and hardware system achieve the expected goals. |
