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A collision-free path planning method for an arc welding robot

A path planning and collision-free technology, which is applied in the direction of manipulators, welding accessories, welding rod characteristics, etc., can solve the problems of not considering the combination of trajectory planning and path planning, difficult to apply welding environment, and not considering the welding direction, so as to reduce the cost of experience acquisition , Shorten the development cycle and improve the welding efficiency

Active Publication Date: 2021-03-02
EAST CHINA UNIV OF SCI & TECH
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Problems solved by technology

However, most of the optimization methods that can be used in the prior art are used in spot welding, and the welding scheme is relatively simple, regardless of the welding direction and the combination of trajectory planning and path planning, so it is difficult to apply to complex welding environments

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  • A collision-free path planning method for an arc welding robot
  • A collision-free path planning method for an arc welding robot
  • A collision-free path planning method for an arc welding robot

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Embodiment Construction

[0043] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0044] Such as figure 1 As shown, a collision-free path planning method for an arc welding robot provided in an embodiment of the present invention includes the following steps:

[0045] S1. Using the mixed modeling method of grid method and bounding box method, establish the welding environment model, and determine the obstacle objects and ...

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Abstract

The present invention relates to the technical field of welding robots, in particular to a method for planning a non-collision path of an arc welding robot, computer equipment, and a computer-readable storage medium. The environment model determines the obstacle object and the guidance space; finds the non-collision transfer trajectory between the welds through the RRT method to form a transfer matrix; discretizes the difference method through the discretization strategy, and dynamically adjusts the variable length by using the adaptive strategy. Taking the welding sequence and welding direction as objects, the collision-free transfer trajectory in the transfer matrix is ​​screened to determine the shortest collision-free welding path. The present invention provides a set of complete solutions for model establishment, trajectory planning, and path planning for complex welding tasks, taking into account calculation speed and accuracy, and can provide path reference for engineers when facing new products, reduce experience acquisition costs, and shorten development cycle.

Description

technical field [0001] The invention relates to the technical field of welding robots, in particular to a non-collision path planning method for an arc welding robot, computer equipment and a computer-readable storage medium. Background technique [0002] Arc welding robot path planning refers to planning a reasonable walking path for the welding task of the robot that does not collide with obstacles, including: the design of welding seam welding sequence, the design of welding direction, and the trajectory planning of transfer paths between weld seams. The rationality of path planning can improve the efficiency of welding tasks and reduce costs. [0003] At present, the arc welding path planning scheme is mainly completed by experienced senior engineers through manual teaching. This method has high requirements for engineers, and it takes a long time to formulate the design scheme. When new products (new workpieces to be welded) appear, there is no With the help of guidanc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K9/28B23K9/32B25J11/00B25J9/16
CPCB23K9/28B23K9/32B25J9/1666B25J11/005
Inventor 王学武夏泽龙顾幸生
Owner EAST CHINA UNIV OF SCI & TECH
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