一种双工业机器人协同加工的轨迹规划方法

A Trajectory Planning Method for Cooperative Machining of Dual Industrial Robots

通过建立空间虚拟工件坐标系,分别得到两机器人到工件坐标系的转换矩阵,从而使两机器人基座标系之间建立联系,标定出两机器人基座标系之间的相对位姿关系。在此基础上,提出一种双机器人离线轨迹生成方法,对三通类型工件生成离线协同程序,并使焊枪在机器人变位过程中始终处于最佳焊接角度。该算法在华数焊接机器人JH-605与JR-605上进行了实验,验证结果表明了算法的可行性与有效性。

By the establishment of the spatial virtual workpiece coordinate system,the transformation matrix of the doublerobot to the workpiece coordinate system is obtained,so as to establish the relationship between the double-robot base coordinate system,ultimately the relative pose relationship is calibrated between the two robot base coordinate system.On this basis,a dual robot offline trajectory generation method is proposed,and an offline collaborative program is generated for the t-branch pipe,and the welding gun is always in the best welding angle during the robot displacement process.The algorithm is tested on the JH-605 and JR-605 of the HuaShu welding robots,then the result shows that the algorithm is feasible and effective.