摘要
为了提高焊接效率、改善焊接质量的实际生产需求,对焊接机器人空间轨迹规划的方法及研究现状进行了综述,对关节轨迹规划法和笛卡尔轨迹规划法做出了比较,指出了轨迹规划中存在的问题即如何更便捷地实现最优轨迹规划和多种最优算法的统一,认为空间轨迹同焊接工艺参数进行联合规划将是未来研究的重点和方向。
The methods and research status on trajectory planning of welding robot were introduced to meet the actual need of production with high welding efficiency and welding quality.Comparisons between joint trajectory planning method and cartesian trajectory planning method were made.Some existing problems in trajectory planning were pointed,such as how to achieve the optimal trajectory planning more easily,how to achieve the unification of multiple optimal algorithms and so on.The combined planning as the trajectory planning with welding procedure parameters is also the key point in future study and research direction.
出处
《轻工机械》
CAS
2015年第2期110-113,共4页
Light Industry Machinery
基金
国家自然科学基金资助项目(51275283)
上海市科委基础研究重点资助项目(14JC1402700)
关键词
焊接机器人
轨迹规划
焊接工艺
联合规划
welding robot
trajectory planning
welding procedure
combined planning
