GAI Shengnan, WANG Yu, WANG Kai, et al.Offline Programming System for Welding Robot Workstation based on Virtual Reality[J].Electric Welding Machine, 2023, 53(9): 14-21. DOI： 10.7512/j.issn.1001-2303.2023.09.02.
Offline Programming System for Welding Robot Workstation based on Virtual Reality
In the application of automatic welding, offline programming welding robots usually has certain control limitations. This paper combines virtual reality technology to build a welding robot workstation. By developing an offline programming system to simplify robot control methods, flexibly adjust perspectives, and automatically plan welding trajectories for improving offline programming efficiency. Proposed the same point and different lines weld seam recognition algorithm and implemented trajectory planning function for single robot. Based on welding torch reference posture, by analyzing the welding posture of horizontal welding, flat welding, vertical upward welding, and vertical downward welding to realize all position welding posture planning. Built the welding robot workstation by adding a KBR-2Z500 dual-axis positioner, and realized multi-axis linkage complex trajectory planning function. Coupling and decoupling between robot motion and positioner motion discussed to solve the problem of welding robot workstation cooperative motion planning. In real space, replicated virtual environment spatial curve welding trajectory planning experiments. The interactivity, feasibility and reliability of the developed offline programming system has been verified.
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