激光加工机器人在相贯线切割中的轨迹规划

Trajectory planning for intersecting line cutting of the laser processing robot

针对激光加工机器人在相贯线切割过程中对激光头的姿态要求严格以及相贯线位置模型复杂的问题,提出了一种控制激光头位置和姿态的连续轨迹规划方法。将激光头与切割点处待加工曲面的法线方向保持同轴,通过求解激光头与切割点处待加工曲面的夹角来确定激光头的姿态;根据相贯线模型的特点,给出一种由圆柱面上三点(任意两点不在同一条母线上)确定相贯线轨迹的激光头位置插补算法。通过仿真验证了该轨迹规划方法可以有效地完成对激光头位置和姿态的控制。该方法计算量小、操作方便,对工业机器人在三维加工时的轨迹规划有一定参考价值。

When the laser processing robot is cutting along the intersecting line ,the posture of the laser head is requested strictly , and the position model of intersecting line is complex .To solve these problems ,proposed a continuous trajectory planning method which controlling the position and orientation of laser head .Keeping the laser head and the normal direction of the processed sur-face coaxial .The laser head posture is determined by solving the angle of the laser head and the processed curved surface ;accord-ing to characteristics of intersecting line model ,a position interpolation algorithm of the laser head that intersecting line trajectory is obtained by the three points （ any of two points don ’ t belong to the same cylindrical bus ） on the cylindrical surface is presen-ted.The simulation results show that the trajectory planning method can effectively control the position and posture of the laser head.This method has a less calculation and its operation is more convenient .It has an important reference value for trajectory planning of the industrial robot in the field of three-dimension process .