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A control method of multi-arm collaborative welding robot based on kinematics analysis

A welding robot and kinematics analysis technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems that have not yet been solved efficiently by robots, and cannot obtain positive and negative solutions for positions, so as to improve robot trajectory planning and real-time control accuracy , good forecasting effect, and the effect of ensuring accuracy

Active Publication Date: 2021-06-04
TONGJI UNIV
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Problems solved by technology

The calculation process of the numerical method is clear and concise, and it can effectively solve the forward and reverse solution of the robot position, but it often requires constraints, and it is impossible to obtain all the forward and reverse solutions of the position.
[0004] For the inverse kinematics solution of a multi-arm collaborative welding robot, there is no precedent for efficient solution of this type of robot

Method used

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  • A control method of multi-arm collaborative welding robot based on kinematics analysis
  • A control method of multi-arm collaborative welding robot based on kinematics analysis
  • A control method of multi-arm collaborative welding robot based on kinematics analysis

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Embodiment

[0087] The present invention uses the MATLAB neural network toolbox to perform calculations according to the content of the invention. Its effect is illustrated by a specific example of a multi-arm collaborative welding robot. The structural parameters of the multi-arm collaborative welding robot are as follows: L 11 =41mm,L 12 =1000mm, L 13 =215mm, L 21 =L 31 =675mm, L 22 =L 32 =260mm, L 23 =L 33 =680mm, L 24 =L 34 =35mm,L 25 =L 35 =670mm, L 26 =L 36 =158mm. Randomly select a set of robot joint drive parameters: θ 11 = 0°, θ 12 = 0°, θ 13 = 45°, θ 21 =-30°, θ 22 =90°,θ 23 =-30°, θ 24 =-15°, θ 25 =-60°, θ 26 =60°,θ 31 =30°,θ 32 =90°,θ 33 =-30°, θ 34 = 15°, θ 35 =-60°, θ 36 =-60°, x=0mm, y=0mm, z=0mm. Substituting the kinematics model of the multi-arm cooperative welding robot, the kinematics real number positive solution of the robot arm is calculated, as shown in Table 2.

[0088] Table 2 The kinematics positive solution of the robot

[0089] ...

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Abstract

The invention relates to a multi-arm cooperative welding robot control method based on kinematic analysis, which is used to realize the precise welding of the double-sided welds of the T-shaped structural joints between the wall plate and the stringer, including the following steps: 1) establishing a modular multi- The kinematics model of the arm welding robot; 2) Establish the output pose matrix of the end of the collaborative welding robot's manipulator, carry out the robot's forward kinematics analysis, verify the correctness of the robot's kinematics parameters and kinematics positive solution, and obtain the data samples of the movement amount of each joint of the robot ; 3) Construct and train the GRNN neural network, and predict the movement of the moving joints and rotational joints of the multi-arm collaborative welding robot, and finally complete the welding control of the multi-arm collaborative welding robot according to the predicted value. Compared with the prior art, the invention has the advantages of strong applicability, accurate prediction, small error, good applicability and the like.

Description

technical field [0001] The invention relates to the field of motion control of aviation welding robots, in particular to a control method of a multi-arm collaborative welding robot based on kinematics analysis. Background technique [0002] In the aerospace manufacturing industry, the ribbed panels of large structural parts usually adopt a T-joint structure, which is suitable for the dual-beam laser welding process. This welding process is suitable for robot work, but for the welding of complex weld curves of large structural parts in the aviation industry, a single robot is not competent, and multiple robotic arm welding robots need to be used to complete the welding work. Solving the kinematics problem of a multi-arm collaborative welding robot can lay the foundation for its work performance analysis and contribute to the follow-up research on the speed, acceleration and dynamics of this type of robot with practical application value in the aerospace field. [0003] The k...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J11/00
CPCB25J9/1653B25J11/005
Inventor 刘雪梅曾氢菲邱呈溶谢楠
Owner TONGJI UNIV
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