A Trajectory Planning and Simulation Method for Welding Robot

摘要

Based on the control characteristics of UR3 Robot, the D-H parameter method was used to build its kinematical equation. The kinematics of mathematical model was presented. The physical model of UR3 Robot was given with SolidWorks. The speed, displacement, angle and motion trajectory were proposed through simulative analysis of its kinematics. The kinematical problem of robot and obtain the motion trajectory were presented with the MATLAB Robotic Toolbox. The positions were collected, and the actual trajectory was obtained in accordance with the coordinates of these positions during the actual movement of UR3 Robot. The rationality of virtual prototype and the accuracy of mathematical model were verified by comparing the actual trajectory with the trajectory obtained in virtual prototype. The kinematical performance of various joints was proposed, which provided reference data to the kinematical control during robot welding.