Robot welding trajectory planning method and welding robot
By taking N discrete welding points on the trajectory to be welded and performing B-spline interpolation, the robot's welding motion trajectory and joint speed are calculated, solving the problem that existing technologies cannot plan complex spatial curve trajectories and realizing precise control of the welding trajectory.
CN116175552BActive Publication Date: 2026-05-29ZHUHAI GREE INTELLIGENT EQUIP CO LTD +1
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHUHAI GREE INTELLIGENT EQUIP CO LTD
- Filing Date
- 2022-12-22
- Publication Date
- 2026-05-29
Smart Images
Figure CN116175552B_ABST
Abstract
The application provides a robot welding trajectory planning method and a welding robot. The robot welding trajectory planning method comprises the following steps: obtaining N discrete welding points on a to-be-welded trajectory; performing B-spline interpolation on the N discrete welding points to obtain a welding motion trajectory of the robot; obtaining the displacement and instantaneous speed of each joint of the robot at each time according to the obtained welding motion trajectory; and controlling the welding gun end of the robot to move along the welding motion trajectory at a target speed and a target posture according to the obtained displacement and instantaneous speed information of each joint of the robot at each time. The robot welding trajectory planning method solves the problem that the existing robot welding motion planning method cannot meet the welding planning of a spatial complex curve trajectory for an industrial robot.
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