基于动态链表的混联机器人焊接编程优化
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摘要
传统示教焊接编程方法具有容易导致频繁编程、示教精度取决于示教者经验、模块顺序执行特征与数据量不确定、机器人无法识别语言指令的弊端。为此,提出一种新的基于动态链表的混联机器人焊接编程优化方法。采用离线焊接编程方式,在起止点关节速度为零的情况下,利用混联机器人逆运动学原理把初始点与终止点位姿转换成对应关节角度值;通过设定各关节变量的角度运动,实现焊接路线规划。在起止点关节速度非零的情况下,将所有路径点看作初始点与终止点,按照预期焊接任务拟合三次多项式差值函数,获取规划线路。通过遗传方法对焊接线路进行优化,保证焊接精度。利用三点标定法对混联机器人坐标进行标定。针对存在顺序同时数量未知的编程执行结果,通过动态链表进行数据保存与语言指令转换,实现对传统方法的优化。实际应用结果表明,所提方法能够有效控制实际工件焊接,焊缝质量高,较为均匀,且偏差小。
The traditional teaching programming method is easy to cause frequent programming,and the accuracy of teaching depends on the experience of the instructor,the uncertainty of module sequence execution and the amount of data. To this end,a new optimization method of welding programming for hybrid robot based on dynamic chain table is proposed. The off-line welding programming method is adopted. Under the condition that the joint speed of starting and stopping points is zero,the initial and ending positions are converted into corresponding joint angles by using the inverse kinematics principle of the hybrid robot,and the welding path planning is realized by setting the angular movement of each joint variable. When the joint speed is not zero,all the path points are regarded as the initial point and the ending point. According to the expected welding task fitting three polynomial difference function,was the planning line get. The welding line is optimized by genetic method to ensure the welding precision. The three point calibration method is used to calibrate the coordinate of the hybrid robot. Aiming at the results of programming execution with unknown number of sequences at the same time,data storage and language instructions are transformed by dynamic linked list to optimize traditional methods. The practical application results show that the proposed method can effectively control the welding of the actual workpiece,the quality of the weld is high,the weld is more uniform,and the deviation is small.
The traditional teaching programming method is easy to cause frequent programming,and the accuracy of teaching depends on the experience of the instructor,the uncertainty of module sequence execution and the amount of data. To this end,a new optimization method of welding programming for hybrid robot based on dynamic chain table is proposed. The off-line welding programming method is adopted. Under the condition that the joint speed of starting and stopping points is zero,the initial and ending positions are converted into corresponding joint angles by using the inverse kinematics principle of the hybrid robot,and the welding path planning is realized by setting the angular movement of each joint variable. When the joint speed is not zero,all the path points are regarded as the initial point and the ending point. According to the expected welding task fitting three polynomial difference function,was the planning line get. The welding line is optimized by genetic method to ensure the welding precision. The three point calibration method is used to calibrate the coordinate of the hybrid robot. Aiming at the results of programming execution with unknown number of sequences at the same time,data storage and language instructions are transformed by dynamic linked list to optimize traditional methods. The practical application results show that the proposed method can effectively control the welding of the actual workpiece,the quality of the weld is high,the weld is more uniform,and the deviation is small.
引文
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6李鹏,徐凯,陈魁.基于SocketCan的机器人焊接控制系统研究[J].电气传动,2016,46(7):30-33Li Peng,Xu Kai,Chen Kui.Research of robot welding control system based on SocketCan[J].Electric Drive,2016,46(7):30-33
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10王芳芳,雷建和,张丹,等.形式化方法和信号解释Petri网在PLC编程中的应用[J].计算机系统应用,2014,23(9):198-203Wang Fangfang,Lei Jianhe,Zhang Dan,et al.Application of formal metrods and signal interpreted Petri net to PLC programming[J].Computer Systems&Applications,2014,23(9):198-203
11覃杨森,郭世伟,刘语乔.Matlab混合编程方法研究[J].电子设计工程,2017,25(17):107-110Qin Yangsen,Guo Shiwei,Liu Yuqiao.Research on Matlab hybrid programming method[J].Electronic Design Engineering,2017,25(17):107-110
12 Ogbemhe J,Mpofu K.Towards achieving a fully intelligent robotic arc welding:A review[J].Industrial Robot,2015,42(5):475-484
13田建平,谢亮亮,孟思栋.含焊接错边缺陷压力管道安全性评价软件开发[J].科技通报,2017,33(11):90-94Tian Jianping,Xie Liangliang,Meng Sidong.Safety assessment software development of the pressure pipeline with welding defects[J].Bulletin of Science and Technology,2017,33(11):90-94
14林义忠,刘庆国,徐俊,等.工业机器人离线编程系统研究现状与发展趋势[J].机电一体化,2015,21(7):8-10Lin Yizhong,Liu Qingguo,Xu Jun,et al.Research status and development trend of industrial robot off-line programming system[J].Mechatronics,2015,21(7):8-10
15李亮玉,龙洋,王天琪,等.基于有理B样条曲线的焊接机器人操作空间轨迹规划[J].天津工业大学学报,2015,34(6):80-83Li Liangyu,Long Yang,Wang Tianqi,et al.Operation space trajectory planning of welding robot based on rational B-splines curve[J].Journal of Tianjin Polytechnic University,2015,34(6):80-83
16 Marchand A.Optimizing robotic welding with the right GMAW gun[J].Welding Journal,2015,94(8):36-39
17 ErdS G,Kardos C,Kem2Ny Z,et al.Process planning and offline programming for robotic remote laser welding systems[J].International Journal of Computer Integrated Manufacturing,2016,29(12):1287-1306
18孙静,张亚平,李鹏飞,等.基于Transpose规则的无锁自组织链表算法[J].计算机工程,2017,43(9):23-28Sun Jing,Zhang Yaping,Li Pengfei,et al.Lock-free self-organizing linked-list algorithm based on transpose rule[J].Computer Engineering,2017,43(9):23-28
19林君健,张晓瑾,林粤科,等.基于XNA的工业机器人离线编程与仿真系统设计[J].机床与液压,2017,45(3):24-27Lin Junjian,Zhang Xiaojin,Lin Yueke,et al.Design of offline-programming and simulation system for industrial robot based on XNA[J].Machine Tool&Hydraulics,2017,45(3):24-27
2郭吉昌,朱志明,闫国瑞,等.基于UG的弧焊机器人离线编程系统开发[J].电焊机,2016,46(10):1-6Guo Jichang,Zhu Zhiming,Yan Guorui,et al.Development of offfine programming system for arc welding robot based on UG[J].Electric Welding Machine,2016,46(10):1-6
3陈炼,吴灵芝.基于链表的不完备决策表属性约简算法[J].科学技术与工程,2015,15(3):250-253Chen Lian,Wu Lingzhi.Attribute reduction algorithm based on linked lists under incomplete decision tables[J].Science Technology and Engineering,2015,15(3):250-253
4倪自强,王田苗,刘达.基于视觉引导的工业机器人示教编程系统[J].北京航空航天大学学报,2016,42(3):562-568Ni Ziqiang,Wang Tianmiao,Liu Da.Vision guide based teaching programming for industrial robot[J].Journal of Beijing University of Aeronautics and Astronautics,2016,42(3):562-568
5戴雷,闵华松.用户自定义建模离线编程与仿真平台设计[J].计算机测量与控制,2015,23(7):2524-2527Dai Lei,Min Huasong.User-defined modeling of industrial robots simulation platform design and research[J].Computer Measurement&Control,2015,23(7):2524-2527
6李鹏,徐凯,陈魁.基于SocketCan的机器人焊接控制系统研究[J].电气传动,2016,46(7):30-33Li Peng,Xu Kai,Chen Kui.Research of robot welding control system based on SocketCan[J].Electric Drive,2016,46(7):30-33
7 Staicu S.Dynamics modelling of a stewart-based hybrid parallel robot[J].Advanced Robotics,2015,29(14):929-938
8陆政,韩昊一,纪良,等.基于ROS的UR机器人离线编程系统设计与开发[J].计算机仿真,2017,34(9):309-313Lu Zheng,Han Haoyi,Ji Liang,et al.Development of an off-line programming system for UR robots based on ROS[J].Computer Simulation,2017,34(9):309-313
9田昌海,杨硕,陈寅,等.RPL:一种基于反应式Agent的机器人编程语言[J].计算机科学,2015,42(3):13-18Tian Changhai,Yang Shuo,Chen Yin,et al.RPL:A robot programming language based on reactive agent[J].Computer Science,2015,42(3):13-18
10王芳芳,雷建和,张丹,等.形式化方法和信号解释Petri网在PLC编程中的应用[J].计算机系统应用,2014,23(9):198-203Wang Fangfang,Lei Jianhe,Zhang Dan,et al.Application of formal metrods and signal interpreted Petri net to PLC programming[J].Computer Systems&Applications,2014,23(9):198-203
11覃杨森,郭世伟,刘语乔.Matlab混合编程方法研究[J].电子设计工程,2017,25(17):107-110Qin Yangsen,Guo Shiwei,Liu Yuqiao.Research on Matlab hybrid programming method[J].Electronic Design Engineering,2017,25(17):107-110
12 Ogbemhe J,Mpofu K.Towards achieving a fully intelligent robotic arc welding:A review[J].Industrial Robot,2015,42(5):475-484
13田建平,谢亮亮,孟思栋.含焊接错边缺陷压力管道安全性评价软件开发[J].科技通报,2017,33(11):90-94Tian Jianping,Xie Liangliang,Meng Sidong.Safety assessment software development of the pressure pipeline with welding defects[J].Bulletin of Science and Technology,2017,33(11):90-94
14林义忠,刘庆国,徐俊,等.工业机器人离线编程系统研究现状与发展趋势[J].机电一体化,2015,21(7):8-10Lin Yizhong,Liu Qingguo,Xu Jun,et al.Research status and development trend of industrial robot off-line programming system[J].Mechatronics,2015,21(7):8-10
15李亮玉,龙洋,王天琪,等.基于有理B样条曲线的焊接机器人操作空间轨迹规划[J].天津工业大学学报,2015,34(6):80-83Li Liangyu,Long Yang,Wang Tianqi,et al.Operation space trajectory planning of welding robot based on rational B-splines curve[J].Journal of Tianjin Polytechnic University,2015,34(6):80-83
16 Marchand A.Optimizing robotic welding with the right GMAW gun[J].Welding Journal,2015,94(8):36-39
17 ErdS G,Kardos C,Kem2Ny Z,et al.Process planning and offline programming for robotic remote laser welding systems[J].International Journal of Computer Integrated Manufacturing,2016,29(12):1287-1306
18孙静,张亚平,李鹏飞,等.基于Transpose规则的无锁自组织链表算法[J].计算机工程,2017,43(9):23-28Sun Jing,Zhang Yaping,Li Pengfei,et al.Lock-free self-organizing linked-list algorithm based on transpose rule[J].Computer Engineering,2017,43(9):23-28
19林君健,张晓瑾,林粤科,等.基于XNA的工业机器人离线编程与仿真系统设计[J].机床与液压,2017,45(3):24-27Lin Junjian,Zhang Xiaojin,Lin Yueke,et al.Design of offline-programming and simulation system for industrial robot based on XNA[J].Machine Tool&Hydraulics,2017,45(3):24-27