Coordinated motion simulation in a robot arc off-line programming system

摘要

The coordinated motion of the robotic arc welding system is a special motion method in flexible manufacturing unit or the flexible product line, which is often used to guarantee the welding point in the well fusion shape during arc welding. In the ACADOLP arc welding off-line programming system, this motion style is realized. This paper shows the coordinated motion’s arithmetic and divided it into line coordinated motion and arc coordinated motion. In coordinated motion situation the positioner is used as the main device and robot as aux device, and robot moves in accordance with the positioner. Experimental results reveal the applicability of our system.