Joint Trajectory Planning and Simulation of a Six Axis Welding Robot

摘要

In order to ensure the smoothness and work efficiency of the joint space trajectory curve of the welding robot during movement, reduce the impact force and movement time of the welding robot during welding operations, the trajectory of the six axis spot welding robot was optimized. Firstly, establish a physical model of the welding robot and analyze the motion characteristics of the six axis robot. On this basis, a theoretical model is constructed using the quintic polynomial interpolation algorithm. Analyze whether there are sudden changes in angular velocity and angular acceleration during the welding process of the robot. Propose a time regulation strategy to reduce joint movement time. Write a program model based on MATLAB software and conduct trajectory simulation experiments on the joints of the welding robot. The results show that there is no sudden change in angular velocity and angular acceleration, and they are all zero when reaching each point, greatly reducing the impact force when the robot reaches the welding point. And through reasonable time adjustment, the joint movement time is reduced and the welding efficiency is improved.