弧焊机器人焊炬姿态规划系统的研究

为提高弧焊机器人的适应性和自动规划功能，研究了一种空间全位置焊接条件下的焊炬姿态自动规划系统。该系统借助于相应的摄像机标定软件，计算测试软件和焊炬姿态规划软件，协调计算机视觉，信号采集，图像处理等模块检测焊缝的空间信息，然4后查询焊炬姿态优化数据库，运行离线偏程等离子模块，实现自动规划弧焊机器人的焊炬姿态，采用研制的爆炬姿态规划系统在空间全位置条件下进行焊接实验，结果表明，该系统能保证爆接中焊缝的成形良好。

Study on Torch Pose Planning System for Arc Welding Robot

In this paper, an automatic torch pose planning system for all position welding has been developed, for the purpose of improving flexibility and automatic planning ability of arc welding robot. With the help of relative software, such as camera calibrating, calculation testing and welding torch pose planing, the space information of welding seam was detected firstly through the modules, including computer vision, signal collecting, image processing. Then the welding torch pose optimization database was inquired. Finally the module of off-line programming was carried out. Consequently, the automatic planning of torch pose for arc welding robot was realized. Satisfied experimental results were acquired in all position welding using the established system.