The Path Planning of Synchronous Cooperative Motion Control between Robot and Positioner for Complex Space Curve Processing

Lin Chen,Yuliang Mo,Ziwei Wang,Haihong Pan

doi:10.3390/electronics9111917

Abstract

In this paper, we propose a synchronous cooperative path planning (SCPP) algorithm for the robot and the positioner to process complex space curve workpieces. The specific algorithm design is illustrated by using the intersecting line welding as an example. The robot and positioner are regarded as an 8-degree-of-freedom (DOF) system to plan the whole synchronous cooperative motion path, and the constraint for the Y-axis of the welding torch coordination system is added for solving the intersecting line orientation information. SCPP is used to process the intersecting line. The changes of welding torch orientation and robot joint rotation angles during welding of the intersecting line by using the improved method and compared to the traditional method. The experimental results show that 8-DOF keeps synchronous cooperative in the whole movement. There is no interference happening during the entire cooperative movement and the welding torch’s orientation remains basically unchanged during the welding intersecting line.

Highlights

Robots are being increasingly used in different fields
The intersecting line welding is a complex space curve, and the welding seam always needs to be placed in the ship-shaped welding seam pose in order to ensure the welding quality of the intersecting line
The objective of this paper is to realize the synchronous cooperative processing of intersecting line workpiece by the robot and the positioner, to solve the problem of interference in the path before line workpiece by the robot and the positioner, to solve the problem of interference in the path andbefore after the in the synchronous movement process,process, and ensure the stability of the of welding andprocessing after the processing in the synchronous movement and ensure the stability the process to improve the quality of weld formation

Summary

Introduction

Robots are being increasingly used in different fields. Researchers have focused their attentions on these different fields, mainly including structural design, dynamics, motion control, and vision control [1,2,3,4]. There is an increasing demand for the processing of complex space-curve workpieces, and motion control is important in the processing. The robot system gradually moves from a single robot to robot flexible processing unit [5,6,7,8] or workstation [9,10,11,12] direction development. A welding workstation composed of a robot and a positioner is the optimal choice for welding this complex space curve [13]

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Methods

Results

Conclusion