第二编码器在机器人搅拌摩擦焊轨迹精度补偿中的应用

Application of Second Encoder in Trajectory Accuracy Compensation of Robotic FSW

介绍了机器人搅拌摩擦焊的工作原理。针对机器人搅拌摩擦焊的轨迹偏移问题,采用第二编码器进行轨迹精度补偿实现解决,并应用发那科M-900iB机器人进行搅拌摩擦焊试验。试验结果表明,开启第二编码器轨迹精度补偿后,机器人搅拌摩擦焊的焊缝偏移量大大减小。

The working principle of robotic FSW was introduced.Aiming at trajectory offset problem of robotic FSW,it was solved by using the second encoder to compensate trajectory accuracy,and the FSW test was carried out by application of FANUC M-900iB robot.The test results show that the welding seam offset of robotic FSW is reduced significantly when the second encoder trajectory accuracy compensation is applied.