Cartesian space track planning for welding robot with inverse solution multi-objective optimization

摘要

Aiming at the problem that the traditional inverse solution optimization method is not comprehensive and does not consider the robot structure and actual working conditions, an inverse solution multi-objective optimization method is proposed. This method comprehensively considers the structural size and working state of the welding robot, establishes the stiffness performance evaluation index, optimizes the performance index of the subsequent connecting rod movement area caused by joint rotation, and selects the optimal inverse solution combined with the principle of “minimum joint displacement.” Compared with the traditional method, this method is more comprehensive. It makes the variation range of the rear three small joints of the welding robot larger than the front three large joints, which reduces the power consumption. In addition, it also improves the stiffness of the welding robot at the trajectory point, which ensures the reliability of the welding robot. On this basis, for linear and arc welds, the position interpolation of cartesian space line and arc trajectory based on the S-shaped acceleration and deceleration curve and the posture interpolation of spherical linear interpolation based on unit quaternion are realized. MATLAB simulation results show that the combination of the inverse optimization method and the interpolation method makes the end trajectory, velocity, acceleration, posture curve, and joint displacement curve of the welding robot continuous, smooth, and without mutation.