WANG Jun, SHAO Chaoxiang, ZHANG Liang, et al.Study on Kinematics Simulation and Control System of Welding Robot[J].Electric Welding Machine, 2023, 53(9): 29-36. DOI： 10.7512/j.issn.1001-2303.2023.09.04.
Study on Kinematics Simulation and Control System of Welding Robot
为了提高焊接机器人的编程效率并保证焊接质量，对机器人运动学仿真和控制系统进行了研发。首先采用D-H参数法建模并对焊接机器人进行了正逆运动学求解，然后通过构建焊缝坐标系的方法对相贯线的自动路径规划进行了研究，并利用PC SDK与机器人控制器进行通信。基于Visual Studio C#平台结合OpenGL实现了机器人的运动学仿真、自动路径规划和远程弧焊控制功能。最后通过RobotStudio对该系统的基本功能进行了验证，结果表明系统准确可靠且满足焊接机器人的工作要求，较大地提高了作业效率，为机器人仿真和远程控制系统的开发提供了解决方案。
In order to improve the programming efficiency of welding robot and ensure the welding quality, the development of robot kinematics simulation and control system was studied. First of all, the D-H parameter method is used to model and solve the forward and inverse kinematics of the welding robot. Then, the automatic path planning of the intersection line is studied by constructing the coordinate system of welding seam, and the PC SDK is used to communicate with the robot controller. Based on VisualStudio C# platform and OpenGL, the robot kinematics simulation, automatic path planning and remote arc welding control of functions are realized. Finally, the basic functions of the system were verified through RobotStudio, and the results showed that the system was accurate and reliable, and met the working requirements of welding robot, greatly improving work efficiency, and providing a solution for the development of robot simulation and remote control systems.
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