基于动态链表的混联机器人焊接编程优化

Optimization of Welding Programming for Hybrid Robot Based on Dynamic Chain List

传统示教焊接编程方法具有容易导致频繁编程、示教精度取决于示教者经验、模块顺序执行特征与数据量不确定、机器人无法识别语言指令的弊端。为此,提出一种新的基于动态链表的混联机器人焊接编程优化方法。采用离线焊接编程方式,在起止点关节速度为零的情况下,利用混联机器人逆运动学原理把初始点与终止点位姿转换成对应关节角度值;通过设定各关节变量的角度运动,实现焊接路线规划。在起止点关节速度非零的情况下,将所有路径点看作初始点与终止点,按照预期焊接任务拟合三次多项式差值函数,获取规划线路。通过遗传方法对焊接线路进行优化,保证焊接精度。利用三点标定法对混联机器人坐标进行标定。针对存在顺序同时数量未知的编程执行结果,通过动态链表进行数据保存与语言指令转换,实现对传统方法的优化。实际应用结果表明,所提方法能够有效控制实际工件焊接,焊缝质量高,较为均匀,且偏差小。

The traditional teaching programming method is easy to cause frequent programming,and the accuracy of teaching depends on the experience of the instructor,the uncertainty of module sequence execution and the amount of data.To this end,a new optimization method of welding programming for hybrid robot based on dynamic chain table is proposed.The off-line welding programming method is adopted.Under the condition that the joint speed of starting and stopping points is zero,the initial and ending positions are converted into corresponding joint angles by using the inverse kinematics principle of the hybrid robot,and the welding path planning is realized by setting the angular movement of each joint variable.When the joint speed is not zero,all the path points are regarded as the initial point and the ending point.According to the expected welding task fitting three polynomial difference function,was the planning line get.The welding line is optimized by genetic method to ensure the welding precision.The three point calibration method is used to calibrate the coordinate of the hybrid robot.Aiming at the results of programming execution with unknown number of sequences at the same time,data storage and language instructions are transformed by dynamic linked list to optimize traditional methods.The practical application results show that the proposed method can effectively control the welding of the actual workpiece,the quality of the weld is high,the weld is more uniform,and the deviation is small.