通用变位机与机器人圆弧焊接的协调控制

以焊接机器人和独立变位机的协调作业为研究对象，提出了空间圆弧焊接的一种协调方法。该方法利用改进的三次埃尔米特插值给出了单旋转自由度变位机的运动表达式，并以此为依据，结合机器人和工控机控制的变位机之间的协调运动关系，采用分段直线拟合出了机器人的空间运动轨迹，从而为机器人和变位机采用各自独立控制器的运动控制提供了一种可行的方法。经Matlab仿真和实践验证，该方法是切实可行的。

Acoorrdinated Method of Robot and General Positioner for Arc Welding

This article provides a coordinated method of space arc welding for the system of robot and independent positioner. It first uses the improved cubic-hermit interpolation function for the one-freedom-degree positioner controlling. And then according to the coordinated motion relationship of the robot and positioner, it uses many short lines to replace the space trajectory of the robot. Then we get the way to control the motion of the robot and positioner independently. This method has been validated by Matlab simulation and practice.