基于WebGL的焊接机器人仿真及多层多道路径规划 |
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引用本文: | 王飞,盛仲曦,陈弈,陈华斌. 基于WebGL的焊接机器人仿真及多层多道路径规划[J]. 焊接学报, 2023, 44(1): 27-32. DOI: 10.12073/j.hjxb.20220123001 |
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作者姓名: | 王飞 盛仲曦 陈弈 陈华斌 |
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作者单位: | 1.上海交通大学 材料科学与工程学院, 上海, 200240 |
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基金项目: | 国家自然科学基金资助项目(52175351) |
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摘 要: | 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.
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关 键 词: | WebGL 激光视觉传感 多层多道路径规划 |
收稿时间: | 2022-01-23 |
Welding robot simulation and multi-layer and multi-channel path planning based on WebGL |
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Affiliation: | 1.Shanghai Jiao Tong University School of Material Science and Engineering, Shanghai 200240, China2.DEC Academy of Science and Technology CO., LTD., Sichuan 610000, China |
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Abstract: | 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. |
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