| 水轮机叶片焊补机器人的工作路径规划 |
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| 引用本文： | 顾振荣,朱立伟,魏俊华,尤波.水轮机叶片焊补机器人的工作路径规划[J].哈尔滨理工大学学报,2000,5(6):51-55. |
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| 作者姓名： | 顾振荣 朱立伟 魏俊华 尤波 |
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| 作者单位： | 哈尔滨理工大学机械动力工程学院,黑龙江哈尔滨 150080 |
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| 摘 要： | 论述了焊补机器人在三维空间全方位的工作路径规划，通过对空间曲面位姿的精确计算和利用三次B样条函数对关节变量的插值，使规划的路径轨迹准确地通过预定的焊补位置而不产生误差，且易于编制路径规划程序。
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| 关 键 词： | 焊补机器人 路径规划 空间位姿 B样条函数 水轮机叶片 |
| 文章编号： | 1007-2683(2000)06-0051-05 |
| 修稿时间： | 2000年9月20日 |
The Working Path Planning of Welding Robot of Hydraulic Turbine Runners |
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| GU Zhen - rong,ZHU Li - wei,WEI Jun - hua,YOU Bo.The Working Path Planning of Welding Robot of Hydraulic Turbine Runners[J].Journal of Harbin University of Science and Technology,2000,5(6):51-55. |
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| Authors: | GU Zhen - rong ZHU Li - wei WEI Jun - hua YOU Bo |
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| Abstract: | In this paper, the omnidirectional path planning in 3D space of the welding robot is presented. In order to make the obtained trajectory pass through the scheduled position, the spatial pose must be accurately calculated and the angle of every joint is interpolated using the cubic B -Splines. Thus, the accuracy of controlling error is high and the path planning program can be easily compiled. |
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| Keywords: | robot path planning spatial pose B-Splines |
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