Pipeline insertion intersecting line track planning method orientated to laser machining robot

Abstract

The invention discloses a pipeline insertion intersecting line track planning method orientated to a laser machining robot. According to the method, through coincidence of the axis of a laser head of the laser machining robot and the normal vector of a curved surface of a workpiece, it is guaranteed that the laser machining head and the surface of the workpiece are perpendicular, a mathematic model of the position and the posture of the laser machining head in the pipeline insertion intersecting line cutting process is established, a homogeneous transformation matrix of a tail joint coordinate system relative to a robot base coordinate system is acquired when the laser machining robot cuts an intersecting line, and finally the position of the intersecting line is rapidly calibrated through a position interpolation algorithm for determining the intersecting line track. By the adoption of the track planning method, the position and the posture of the laser machining head can be effectively controlled in the intersecting line cutting process of the laser machining robot, compared with a traditional track planning method, the track planning method can greatly shorten operation time of track planning of a motion controller and the responding speed of a whole system is increased.

Description

technical field [0001] The invention relates to the field of laser processing robots, in particular to an intersecting line trajectory planning method for laser processing robots. Background technique [0002] When the end effector of the robot performs processing operations in three-dimensional space, especially on complex surfaces, the trajectory planning of the robot must not only make the end effector move accurately along the desired space curve, but also ensure that the end effector is located relative to the trajectory curve or curve. The posture of the curved surface meets the process requirements. For arc welding robots, laser processing robots, spraying robots, etc., when planning continuous paths on complex surfaces, the posture of the end effector needs to strictly meet the process requirements. When the laser processing robot is working, the laser beam emitted from the laser head must be perpendicular to the surface of the workpiece when the laser beam is movin...

AI Technical Summary

Problems solved by technology

However, solving the Freiner formula and the curvature and torsion of the curve require a lot of calculation, which increases the difficulty of robot trajectory planning, and the angle between the tool and the three coordinate axes of the Freiner coordinate system on the curve is not easy to obtain

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