基于关节空间与工作空间协同的6R点焊机器人路径-井冈山大学学报.PDFVIP

第38 卷第5 期 Vol.38 No.5 井冈山大学学报( 自然科学版) 2017 年9 月 September 2017 Journal of Jinggangshan University (Natural Science) 59 井冈山大学学报( 自然科学版) 59 文章编号：1674-8085(20 17)05-0059-05 基于关节空间与工作空间协同的6R 点焊机器人 路径规划方法 * 徐成宇，高 洪 (安徽工程大学机 与汽车工程学院，安徽，芜湖 24 1000 ) 摘 要：为实现6R 点焊机器人动态性能优、焊接路径 的规划目标，提出在关节空间采用5 次多项式规划其转 角运动，以确保机器人从任一焊点到相邻焊点时的动态特性；基于组合数学原理，枚举点焊机器人工作时遍历所 有焊点的可能路径集合，结合关节空间与工作空间映射关系和各可能路径长度动态积分的数值计算，给出最优焊 接路径排列顺序。最后通过算例对该规划方法进行了验证。 关键词：点焊机器人；五次多项式；关节空间；工作空间；可能路径集合 中图分类号：O189.13 文献标识码：A DOI:10.3969/j.issn.1674-8085.20 17.05.0 13 PATH PLANNING METHOD FOR 6R SPOT WELDING ROBOT BASED ON COLLABORATION BETWEEN JOINTSPACE AND WORKSPACE * XU Cheng-yu, GAO Hong (School of Mechanical and Automotive Engineering, Anhui Ploytechnic University, Wuhu, Anhui 24 1000, China) Abstract：In order to achieve the planning obj ective of the optimal dynamic performance and shortest welding path for 6R spot welding robot, we adopt 5 times polynomial planning for angle displacement in j ointspace which dynamic characteristics of the robot are ensured when it moves from any welding point to the adj acent welding point. The set of the possible ergodic paths of the spot welding robot passing all welding points are listed based on the principles of combinatorial mathematics. The optimal welding path sequence is given by combining with the relationship between j ointspace and workspace mapping. Furthermore, we present all possible path length dynamic numerical. Finally, the planning method is verified by an example, which is d