焊接机器人的摆动焊接轨迹规划策略研究

基于机器人空间直线插补和圆弧插补算法，设计了时间最优的空间直线摆焊轨迹和圆弧摆焊轨迹规划的策略，并于MATLAB软件中完成验证路径算法。最后通过由VS2019搭建的上位机示教软件、基于STM32H7平台设计的运动控制卡和SCARA机器人平台组成的控制系统，验证了算法的可靠性和准确性。实验结果表明，用户可以通过示教焊接机器人的方式获取空间摆焊的参数，并且机器人能够根据获取的参数在限定的轨迹上进行较为高效的空间直线摆焊运动和空间圆弧摆焊运动，具有一定的实际意义和参考价值。

Research on Swing Welding Trajectory Planning Strategy of Welding Robot

A strategy for time-optimal spatial linear and circular arc interpolation trajectory planning is designed based on the spatial linear and circular arc interpolation algorithms of the robot , and the verification path algorithm is completed in MATLAB software.Finally , the reliability and accuracy of the algorithms are verified by the control system consisting of the upper computer demonstration software built by VS2019 , the motion control card designed based on STM32H7 platform and the SCARA robot platform. The experimental results show that the user can obtain the parameter of spatial pendulum welding by teaching the welding robot , and the robot can perform more efficient spatial linear pendulum welding motion and spatial circular arc pendulum welding motion on the limited trajectory according to the obtained parameters , which has certain practical significance and reference value.