纠偏技术在弧焊机器人路径规划中的应用

Application of error correction for path planning of arc welding robot

基于OpenGL技术开发的MOTOMAN-UP20弧焊机器人离线编程系统在实际焊接过程中存在较大的位置误差,为解决此问题,提出了一种实时纠偏方法。该方法首先通过最优路径规划减小位置误差,然后利用计算机输出实时纠偏信号来修正机器人运动轨迹,从而减小机器人运动系统产生的各种误差。实验结果表明,该方法能有效提高机器人运动轨迹的精确度,从而提高焊接质量。

The off-line progTamming system of MOTOMAN-UP20 arc welding robot based on OpenGL visual technolgy has big position error.In order to reslove the problem,this paper put forward a novel method of real-time error correction.h reduced position error by optimal path planning,and then the signal of real-time error correction was inputed to control robot for correct the robot path,to decreased all kinds error.The results show that it is effectively improved accuracy of robot moving path and the quality of welding.