Research On Calibration And Path Planning Technology Of Dual-robot Coordinated Welding System

In order to improve welding efficiency and ensure welding quality,a large number of welding robots have been applied in aerospace,automobile manufacturing mechanical parts processing and other field.A single robot was difficult to meet the welding requirements and collided easily when weld some complex parts,thus unable to guarantee the stability of the welding quality,so double coordinate robot welding system provides a solution for such problem.In order to improve the accuracy and the practical level of the double robot coordinated welding system,the calibration and path planning technology of the dual-robot coordinated welding system were studied in this paper.The principle and method of each component calibration were analyzed,the calibration method of robot coordinate system and dual-robot base calibration system were improved.The influence of the parameters on the welding path planning system of the coordinated welding path planning system and the influence of the stability of the robot movement were explored in this paper,and optimized the welding path by using the intelligent optimization algorithm.The primary research works are as follows:The robot tool coordinate system,workpiece coordinate system and dual robot base principle and calibration method were analyzed at first.The TCF calibration calculation was simplified because of the transformational relation between rotation matrix and quaternion which was inferred according to the theory of vector rotation.so was the base calibration system calibration project of dual-robot on the basis of the method of "three point and two-steps based on the public target" was raised under the Lagrange multiplier method,improve the system accuracy and simplify the calibration process.A lot of calibration experiments were carried out to verify the feasibility of calibration scheme.And at the completion of the double robot calibration on the basis of system components,the objective function of the evaluation of welding path are established:welding quality function,collide with double robot and robot motion stability function by analyze the parameters of the influence of weld's quality and the stability of robot's movement,provides the planning objectives of path planning for the next step.Then welding path planning algorithm of dual-robot was studied,according to the characteristics of the multiple planning objective function,a path planning scheme based on multi-objective genetic algorithm was put forward.Taking the "saddle shaped" space seam as an example,the welding paths of two robots are tested and verified.Finally the simulation verification for the path planning was carried out by using robot off-line programming software RobotStudio and the motion state of dual-robot was monitor.Then the dual-robot coordinate welding experiment system was set up and the actual "saddle" weld was welded,the results show that the proposed scheme can realize the planning of dual-robot coordinated welding path.