원문정보
초록
영어
According to the requirements for tower crane welding robots, precisely planning the welding trajectory is essential. The optimal model for the least-time trajectory planning for the robot is established by Bezier curve, which has the characteristic of sub-section processing. With the consideration of constraints such as joint angular velocity and acceleration, the specific operation steps of genetic algorithm (GA) optimization are presented. A weld seam trajectory example is then proposed, and the simulation of a robot’s trajectory planning is carried out. The result shows that the curve is smooth and steady, and can satisfy the requirements of tower crane welding operations. This method significantly reduces the motion time, and improves working efficiency.
목차
1. Introduction
2. Welding Robot: Overall Program
3. Trajectory Planning Method: the Bezier Curve
3.1. Expression of Fourth-order Cubic Bezier Curve
3.2. Bezier Curve Constraint Conditions
4. Optimization of the Bezier Curve Trajectory
5. Simulation Analysis
6. Conclusions
Acknowledgements
References