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Abstract: The
trajectory planning of posture adjustment is presented for a weld mobile
robot during auto-searching weld line. It is a critical step to adjust
the posture of the body of mobile robot and torch to desired status
preparing for welding after the weld groove has been recognized
according to the model of groove recognition characteristics and the
angle between robot and weld line is solved according to some algorithm.
Firstly, the configuration of welding mobile robot with the function of
auto-searching weld line is introduced, then the trajectory of posture
adjustment is planning during auto-searching weld line on the basis of
kinematics of mobile robot, at last the trajectory of posture adjustment
is modified according to the structure of mobile robot itself. The
experiment result is shown that error precision of posture adjustment
could be controlled to approximate ±1.5 mm when the above algorithm is
applied to the posture adjustment during auto-searching weld line and
could be suited for real welding project.
Key
words: Welding
mobile robot Auto-searching weld line Posture adjustment
Trajectory planning
CLC No: TP242.3
Received
20041115, received in revised form 20050130
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