基于WebGL的焊接机器人仿真及多层多道路径规划

针对中厚板机器人焊接运动仿真、多层多道路径规划等需求，开发了一种基于Web GL的开放的机器人焊接离线编程系统.首先搭建了基于激光视觉传感的机器人MAG焊接系统，接着利用Java Script,Web GL等技术搭建了仿真平台，通过传感器获取焊道的三维点云数据，利用点云处理技术对焊道特征信息进行提取，在此基础上，进一步提出了对20 mm厚的开V形坡口钢板的多层多道路径规划策略，最终完成了V形坡口4层10道的焊接实验.结果表明，该系统对机器人焊接自动化、智能化关键技术提供了可靠的实现途径.

Welding robot simulation and multi-layer and multi-channel path planning based on WebGL

According to the requirements of robot welding motion simulation and multi-layer and multi-channel path planning, an open robot welding off-line programming system based on WebGL is developed. Firstly, a robot MAG welding system based on laser vision sensing is built, and then a simulation platform is built by using JavaScript, WebGL and other technologies. The three-dimensional point cloud data of weld bead is obtained through the sensor, and the point cloud processing technology is used to extract the weld bead feature information. On this basis, a multi-layer and multi pass path planning strategy for 20 mm thick V-groove steel plate is further proposed, Finally, the welding experiment of 4 layers and 10 passes of V-groove was completed. The results show that the system provides a reliable way to realize the key technologies of robot welding automation and intelligence.