科研之友
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摘要
In the arc welding process of underwater welding robot, in order to improve the welding quality and the welding efficiency, a smooth trajectory control strategy was presented. Firstly, the mathematical model of the welding robot was established and the kinematics analysis was carried out by using the D-H parameter method. The forward kinematics and inverse kinematics formulas of the robot were deduced and the position formula of the robot was simplified. Then, the 6-dimensional space vector was proposed to represent the position and posture of the robot at each path point;Finally, a linear interpolation method with parabolic transition was used to interpolate the robot's space pose. At the same time, the speed and acceleration of each joint of the welding robot were calculated rationally, which can ensure a smooth welding process. The underwater welding experiment was carried out by using the above control strategy. The result showed that welding seam was smooth, and the welding quality was improved and the welding time was shortened.
