焊接机器人运动学仿真及控制系统研究
Study on Kinematics Simulation and Control System of Welding Robot
- 2023年53卷第9期 页码:29-36
DOI: 10.7512/j.issn.1001-2303.2023.09.04
扫 描 看 全 文
扫 描 看 全 文
王军,邵超祥,张亮,等.焊接机器人运动学仿真及控制系统研究[J].电焊机,2023,53(9):29-36.
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.
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.
工业机器人机器人仿真弧焊系统机器人运动学路径规划
industrial robotrobot simulationwelding systemrobot kinematicspath planning
Parmar H, Khan T, Tucci F, et al. Advanced robotics and additive manufacturing of composites: towards a new era in Industry 4.0[J]. Materials and manufacturing processes, 2022, 37(5): 483-517.
戎新萍,徐海璐, 韩雪,等. 基于MATLAB和ADAMS联合仿真的工业机器人建模[J]. 制造业自动化,2022, 44(07): 28-30+139.
RONG X P, XU H L, HAN X, et al. Modeling of industrial robot based on joint simulation of MATLAB and ADAMS[J]. Manufacturing Automation, 2022, 44(07): 28-30+139.
赵瑞文, 童一飞, 谭清锰, 等. 基于虚拟样机技术的焊接机器人仿真研究[J]. 机械设计与制造工程, 2017, 46(03): 36-40.
ZHAO R W, TONG Y F, TAN Q M, et al. Simulation of welding robot based on virtual prototyping technology[J]. Machine Design and Manufacturing Engineering, 2017, 46(03):36-40.
Garg G, Kuts V, Anbarjafari G. Digital twin for fanuc robots: Industrial robot programming and simulation using virtual reality[J]. Sustainability, 2021, 13(18): 10336.
朱志伟, 李和平. 基于MATLAB的KUKA焊接机器人轨迹规划与运动学仿真[J]. 机床与液压, 2019, 47 (21): 64-69.
ZHU Z W, LI H P. Trajectory planning and kinematics Simulation of KUKA welding robot based on MATLAB[J]. Machine Tool & Hydraulics,2019,47(21):64-69.
李双. 基于SolidWorks的焊接机器人离线编程关键技术研究[D]. 甘肃:兰州理工大学, 2021.
LI S. Research on the Key Technology of Offline Programming of Welding Robot Based on SolidWorks[D]. Gansu: Lanzhou University of Technology, 2021.
许琳娜. 基于UG的工业机器人离线编程系统研究与开发[D]. 辽宁:大连交通大学, 2018.
XU L N. Research an Development of Industrial Robot off-line Programming System Based on UG[D]. Liaoning: Dalian Jiaotong University,2018.
Wang L, Gao G, Zhang J, et al. Trajectory Planning and Design of Parallel Robot Based on SolidWorks and Adams[J]. International Core Journal of Engineering, 2019, 5(12): 49-56.
Kuts V, Otto T, Tähemaa T, et al. Digital twin based synchronised control and simulation of the industrial robotic cell using virtual reality[J]. Journal of Machine Engineering, 2019, 19(1): 128-145.
侯冬曼, 陈武喝, 马佳洪. 基于OpenGL的虚拟仿真实验设计[J]. 实验室研究与探索, 2019, 38(06): 89-92.
HOU D M, CHEN W H, MA J H. Design of Virtual Simulation Instrument Based on OpenGL[J]. Research and Exploration in Laboratory, 2019, 38(06): 89-92.
孙阳, 杨先海, 代瑞恒, 等. 六自由度机器人的运动学分析及码垛轨迹规划[J]. 机床与液压, 2021, 49(21): 33-37.
SUN Y, YANG X H, DAI R H, et al. Kinematics Analysis and Palletizing Trajectory Planning of 6-DOF Robot[J]. Machine Tool & Hydraulics, 2021, 49(21): 33-37.
张付祥, 赵阳. UR5机器人运动学及奇异性分析[J]. 河北科技大学学报, 2019, 40(01): 51-59.
ZHANG F X, ZHAO Y. Kinematics and singularity analysis of UR5 robot[J]. Journal of Hebei University of Science and Technology, 2019, 40(01): 51-59.
Chauhan S S, Khare A K. Kinematic analysis of the ABB IRB 1520 industrial robot using RoboAnalyzer software[J]. Evergreen, 2020,7(4):510-518.
肖志键, 吴建华. 机器人逆运动学解析解的选取算法[J]. 机械设计与制造, 2018(08): 252-255.
XIAO Z J, WU J H. Selection Algorithm for Analytical Solutions of Robot Inverse Kinematics[J]. Machinery Design & Manufacture, 2018(08): 252-255.
冷舒, 吴克, 居鹤华. 机械臂运动学建模及解算方法综述[J]. 宇航学报, 2019, 40(11): 1262-1273.
LENG S, WU K, JU H H. Overview of Manipulator Kinematics Modeling and Solving Method[J]. Journal of Astronautics, 2019, 40(11): 1262-1273.
陈绵鹏, 赵洪华, 温尔文, 等. 六自由度串联工业机器人运动学标定与实验研究[J]. 济南大学学报(自然科学版), 2019, 33(03): 229-235.
CHEN J P, ZHAO H H, WEN E W, et al. Kinematic Calibration and Experimental Research of Six Degrees of Freedom Industrial Robot[J]. Journal of University of Jinan ( Science and Technology) , 2019, 33(03): 229-235.
雷静桃, 戴文杰. 基于位姿分离法的模块化机械臂逆运动学分析[J]. 上海大学学报(自然科学版), 2015, 21(05): 588-597.
LEI J T, YAO W J. Inverse kinematics analysis of modular manipulator by separating attitude from position[J]. Journal Of Shanghai University (Natural Science), 2015, 21(05): 588-597.
李济龙. 焊接机器人系统与焊接工艺参数影响的研究[D]. 天津:天津理工大学, 2019.
LI J L. Study on the Welding Robot System and the Influence of Welding Process Parameters[D]. Tianjin: Tianjin University of Technology, 2019.
Liu X. Dynamic simulation system using DOF picking robot[J]. The Open Automation and Control Systems Journal, 2015, 7:1746-1751.
董国栋, 唐飞, 王晓浩,等. 运用OpenGL的数控加工仿真算法研究[J]. 现代制造工程, 2014(03):52-55.
DONG G D, TANG F, WANG X H, et al. Research on NC simulation algorithm based on OpenGL[J]. Modern Manufacturing Engineering, 2014(03):52-55.
文豪, 高健, 张正甫. 面向STL文件的截面轮廓线段连接方法研究[J]. 机械设计与制造, 2021(07): 171-175.
WEN H, GAO J, ZHANG Z F. Research of Cross Contour Segments Connection for STL File[J]. Machinery Design & Manufacture, 2021(07): 171-175.
相关作者
相关机构