| 基于弗莱纳-雪列空间矢量的焊接离线编程路径规划 |
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| 引用本文： | 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. |
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| 作者姓名： | 曾翠华 张纯忠 杨军 |
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| 作者单位： | 1. 中国工程物理研究院,工学院,四川,绵阳,621900
2. 中国工程物理研究院,应用技术研究发展中心,四川,绵阳621900 |
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| 摘 要： | 阐述了机器人离线编程的弗莱纳-雪列空间矢量原理和路径规划算法.依据此原理和算法,以机器人焊接球罐和圆柱的空间曲线焊缝为实例.求出复杂空间曲线焊缝路径的各个点的齐次矩阵,计算机仿真实现路径规划.实例的详细步骤能指导您实现机器人离线编程作业,提高焊接质量和降低生产成本.
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| 关 键 词： | 机器人 焊接 弗莱纳-雪列矢量空间 轨迹规划 |
Trajectory planning of off-line programming of welding line based on Frenet-Serret vector space |
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| ZENG Cui-hua,ZHANG Chun-zhong,YANG Jun.Trajectory planning of off-line programming of welding line based on Frenet-Serret vector space[J].Welding Technology,2011,40(7):44-48. |
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| Authors: | ZENG Cui-hua ZHANG Chun-zhong YANG Jun |
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| Affiliation: | ZENG Cui-hua1,ZHANG Chun-zhong2 and YANG Jun1 (1. Institute of Technology,China Academy of Engineering Physics,Mianyang 621900,Sichuan pro.,China,2. Research & Development Centre of Applicated Technology,Mianyang 610003,China) |
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| Abstract: | In this paper,the principle of Frenet-Serret vector space of off-line programming and arithmetic of trajectory planning was expatiated. Matrix of the planned joint trajectories was presented by an example of welding the complex space curve formed sphere with column. Computer simulation with a Unimate type robot had carried out the trajectory planning according as the principle and the arithmetic. The detailed steps of trajectory planning could also help you to realize works of the robot off-line programming... |
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| Keywords: | robot welding Frenet-Serret vector space trajectory planning |
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