| 基于轨迹编程的示教式焊接机器人控制技术 |
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| 引用本文： | 林砺宗,张晓进. 基于轨迹编程的示教式焊接机器人控制技术[J]. 电焊机, 2007, 37(8): 5-8 |
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| 作者姓名： | 林砺宗 张晓进 |
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| 作者单位： | 华东理工大学,机械与动力工程系,上海,200237 |
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| 摘 要： | 研究了基于PC 运动控制卡控制模式的焊接机器人控制系统,介绍了系统的体系结构.根据焊接机器人自身特点和焊接工艺要求,提出了基于轨迹编程的示教式编程方法,详细地介绍了轨迹规划过程中所涉及到的空间圆弧插补算法,阐述了示教再现的实现过程.最后运用了模块化编程思想,用C Builder6.0高级语言编写了示教编程软件,并解释了各功能模块的主要作用.该技术增进了机器人编程的可操作性和直观性,从而有利于焊接机器人在实际生产中的应用与推广.
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| 关 键 词： | 机器人 示教 轨迹编程 焊接 |
| 文章编号： | 1001-2303（2007）08-0005-04 |
| 修稿时间： | 2006-12-05 |
Control technology based on trajectory programming for welding robot |
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| LIN Li-zong,ZHANG Xiao-jin. Control technology based on trajectory programming for welding robot[J]. Electric Welding Machine, 2007, 37(8): 5-8 |
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| Authors: | LIN Li-zong ZHANG Xiao-jin |
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| Affiliation: | School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, China |
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| Abstract: | Do a research of control system based on PC plus motion card mode for welding robot,introduce structure of system to the point,put forward a training programming method based on trajectory programming by the character of welding robot itself and demands of welding arts and crafts,introduce in particular arithmetic of dimensional arc interpolation referred in the process of trajectory layout,expatiate basic principle and realizing course of training,at last program software of training by C++ Builder 6.0 and analyze main functions of each module of control software.This control technology improves maneuverability and intuition of programming, which is propitious to application and extend of welding robot in industrial production. |
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| Keywords: | robot training trajectory programming welding |
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