Control algorithm based on trajectory and orientation of oblique intersection line welding-cutting robot

Working principle for a four-axis oblique intersection line welding robot is analyzed. A mathematical model for welding torch orientation angle is established, and an interpolation algorithm based on time division is proposed. The algorithm makes all interpolation points fall on a required curve in theory with no accumulated errors and a direct interpolation control on the saddle-shaped curve trajectory and space orientation angle can be achieved. It is shown by MATLAB simulation that the algorithm is real-time and fully meets the precision requirement. The algorithm has been applied to real robots.

The Study of Fuzzy Line Control for Multiple Intersections

The line control for multiple intersections is a hot spot in the area of transportation. According to the principle of system analysis and coordination, a method about fuzzy line control for multiple intersections is proposed. The system is made of two control units, one is the basic control unit for every single intersection, and the other is used for the function of coordination.

Line clipping against polygonal window algorithm based on the multiple virtual boxes rejecting

This paper presents a new algorithm for line clipping against a polygonal window by exploiting the local relationship between each line segment and the polygon. Firstly, a minimal enclosing box （MEB） of the polygon is adopted to reject the invisible line segments located outside the MEB. Secondly, a 45° rotated box is used to encode the endpoint of the line segment, and then reject a portion of the invisible segments crossing polygon comers. Finally, instead of encoding the endpoints of all line segments with respect to the polygonal window, each vertex of the polygon is encoded, taking the line segment to be clipped as reference. For efficient encoding of the polygon vertices, a new concept, termed with slope adaptive virtual box, is introduced regarding each line segment. Such a box can not only conveniently reject all totally invisible lines lying outside the MEB conveniently, but also precisely identify the edges of the polygon with which the line segment potentially intersects. With the summation of the vertex codes, it can be verified whether the line segment is separated from or potentially intersects the polygon window. Based on the product of the codes of adjacent vertices, singular cases of intersection can be solved accurately. Experimental results demonstrate the efficiency and stability of the new algorithm.

Groove modeling and digital simulation for intersecting structures of circular tubes based on coplanarity of vectors

In order to establish the groove model for intersecting structures of circular tubes,mathematical model of the intersecting line is established by the method of analytic geometry,and parametric equations are thus determined.The dihedral angle,groove angle and actual cutting angle for any position of the intersecting line are derived as well.In order to identify groove vectors for two pipes,a new analytical method,i.e.coplanarity of vectors,is further proposed to complete the groove model.The established model is virtually verified by programming and simulation calculation in the MATLAB environment.The results show that groove vectors of intersecting structures simulated by MATLAB are consistent with the theoretical groove model,indicating that the theoretical groove model established in this paper is accurate,and further proves that the proposed coplanarity of vectors for solving groove vectors is correct and feasible.Finally,a graphical user interface(GUI)is developed by MATLAB software to independently realize functions such as model drawing,variable calculation and data output.The research outcome provides a theoretical foundation for the actual welding of circular intersecting structures,and lays an essential basis for weld bead layout and path planning.