焊接機(jī)器人系統(tǒng)運動規(guī)劃方法的研究與軟件實現(xiàn).pdf

1、東南大學(xué)碩士學(xué)位論文焊接機(jī)器人系統(tǒng)運動規(guī)劃方法的研究與軟件實現(xiàn)姓名：唐創(chuàng)奇申請學(xué)位級別：碩士專業(yè)：控制理論與控制工程指導(dǎo)教師：孟正大20080315東南大學(xué)碩士學(xué)位論文AbstractTheresearchofrobotmotionplanningalgorithmsinweldingsystemisfocusedinthispaperbasedonthe“KunShanNO1”arc—weldingrobotItincludessom

2、esubproblemssuchas：Theweldingrobottrajectoryinterpolation，thecoordinatedmotionbetweentherobotandpositionerandtheweldingrobotpathplanningTherobotkinematicsisanalyzedbasedonthemechanismof“KunShanNO1”arc—weldingrobotAndthen

3、notonlysomecommontrajectoryinterpolationalgorithmssuchasPTPline，arc，butalsosomenewarerealized，suchaSthesplineinterpolationandthemultipointinterpolationunderCartesiancoordinate’SspaceThesetrajectoryinterpolationalgorithms

4、runwellinthe“KunShanNO1”arcweldingrobotThecoordinatedmotionbetweentherobotandpositionerisanalyzedundertherequirementsofsynchronousworkstationThenbasedontherequirementsofactualapplication，thecoordinatedmotionoftherobotpos

5、itionersystemwasrealizedbyusingthemotionanalysistheoryandthemethodofassociativetrajectoryplanningThesimulationresultisgiven，andshowsthatthismethodisusefulBesides，collisiondetectionalgorithmbasedOBBandtheSinglequeryBidire

6、ctionalpathplanningalgorithmarerealizedonthe3Dsimulationplatform，whichisdevelopedbymyselfAndthesimulationresultsaregivenTheresultsdemonstratethatthealgorithmsarequickandadaptableKeywords：arc—weldingrobotmotionplanningtra