冗余自由度弧焊机器人路径自主规划的优化控制

Autonomous Path Planning for Arc Welding Robot with Redundant Degree of Freedom

提出了冗余度弧焊机器人及其路径自主规划的概念，讨论了在机器人焊接作业中引入冗余自由度的意义，运用控制变量法作为解决弧焊机器人冗余度的优化问题的方法，提出了包括焊接姿态参数在内的多性能指标融合控制方法，定义了焊接姿态参数函数、运动位置约束函数、运动平稳性函数。针对空间复杂焊缝，运用该路径自主规划方法求得的各关节角变化范围小、机器人运动过程平稳、远离关节极限位置，并且能够满足焊接质量的要求，有效地解决了冗余度弧焊机器人路径自主规划问题并取得了满意的结果。

The concepts of arc welding robot with redundant degree of freedom and its autonomous path planning were presented, the significance of inducing redundancy in welding production was discussed, controlling variable method was adopted as an approach to optimize redundant degree of freedom for arc welding robot, considering welding orientation parameters, a new method of incorporating multiple criteria was presented, function of welding orientation parameters, function of position constraints and function of motion stability were defined. As to space complicated weld seam, after autonomous path planning with this method, the changes of joint angles were smooth and far away from the limitations, the motion of the robot was stable, and at the same time it could meet the requirement of weld quality, the problem of autonomous path planning of arc welding robot with redundant degree of freedom was effectively solved and its results were satisfying.