激光加工机器人在相贯线切割中的轨迹规划
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摘要
针对激光加工机器人在相贯线切割过程中对激光头的姿态要求严格以及相贯线位置模型复杂的问题,提出了一种控制激光头位置和姿态的连续轨迹规划方法。将激光头与切割点处待加工曲面的法线方向保持同轴,通过求解激光头与切割点处待加工曲面的夹角来确定激光头的姿态;根据相贯线模型的特点,给出一种由圆柱面上三点(任意两点不在同一条母线上)确定相贯线轨迹的激光头位置插补算法。通过仿真验证了该轨迹规划方法可以有效地完成对激光头位置和姿态的控制。该方法计算量小、操作方便,对工业机器人在三维加工时的轨迹规划有一定参考价值。
When the laser processing robot is cutting along the intersecting line,the posture of the laser head is requested strictly,and the position model of intersecting line is complex. To solve these problems,proposed a continuous trajectory planning method which controlling the position and orientation of laser head. Keeping the laser head and the normal direction of the processed surface coaxial. The laser head posture is determined by solving the angle of the laser head and the processed curved surface; according to characteristics of intersecting line model,a position interpolation algorithm of the laser head that intersecting line trajectory is obtained by the three points( any of two points don't belong to the same cylindrical bus) on the cylindrical surface is presented. The simulation results show that the trajectory planning method can effectively control the position and posture of the laser head. This method has a less calculation and its operation is more convenient. It has an important reference value for trajectory planning of the industrial robot in the field of three-dimension process.
When the laser processing robot is cutting along the intersecting line,the posture of the laser head is requested strictly,and the position model of intersecting line is complex. To solve these problems,proposed a continuous trajectory planning method which controlling the position and orientation of laser head. Keeping the laser head and the normal direction of the processed surface coaxial. The laser head posture is determined by solving the angle of the laser head and the processed curved surface; according to characteristics of intersecting line model,a position interpolation algorithm of the laser head that intersecting line trajectory is obtained by the three points( any of two points don't belong to the same cylindrical bus) on the cylindrical surface is presented. The simulation results show that the trajectory planning method can effectively control the position and posture of the laser head. This method has a less calculation and its operation is more convenient. It has an important reference value for trajectory planning of the industrial robot in the field of three-dimension process.
引文
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[5]Jessica Burgner,Meiko Mueller.Robot assisted laser bone processing:Marking and cutting experiments.International Conference on Advanced Robotics[C].Munich:Munich Marriott Hotel,2009.
[6]任秉银,梁兆东,孔民休.机械手空间圆弧位姿轨迹规划算法的实现[J].哈尔滨工业大学学报,2012,44(7):27-31.
[7]陈国良,黄心汉,王敏.机械手圆弧运动的轨迹规划与实现[J].华中科技大学学报,2005,33(11):63-66.
[8]曾翠华,张纯忠,杨军.基于弗莱纳-雪列空间矢量的焊接离线编程路径规划[J].焊接技术,2011,40(7):44-48.
[9]Liu Huiying,Huang Shaoping.Robot Continuous Trajectory Planning Based on Frenet-Serret Formulas.2010 International Conference on Computer,Mechatronics,Control and Electronic Engineering(CMCE)[C].[s.n.]:[S.l.],2010.
[10]John J Craig.机器人学导论[M].贠超,译.北京:机械工业出版社,2008.
[11]程永伦,朱世强,罗丽佳,等.基于Matlab的QJ-6Rh焊接机器人运动学分析及仿真[J].机电工程,2007,24(11):107-110.
[12]Wen Guojun,Xu Linhong,He Fulun.Kinematics Simulation to Manipulator of Welding Robot Based on ADAMS.International Workshop on Intelligent Systems and Applications[C].Wuhan:TBD,2009.
[13]梅向明,黄敬之.微分几何[M].北京:高等教育出版社,2008.