Offline Programming for an Arc Welding Robot with Redundant DOF

摘要：

　　To raise the programming efficiency of arc welding robots,the offiine programming system was developed for a Motoman-UP20 robot with redundant degrees of freedom in VC++integration environment.The system consists of kinematics analysis,motion simulation,welding trajectory plan,welding parameters plan and job file generating module.It can plan the motion path and posture of welding gun for saddle-shape seams,and display the workpiece on the interface synchronically.Job instructions can be made step by step,or generated automatically.Kinematics simulation module and communication module are integrated together,and job files can be exchanged between PC and robot controller via Ethernet to realize remote control.

关键词： Arc welding robot Offline programming Motion simulation Path planning

作者: Huanming Chen Zhouping Liu

作者单位: School of Aeronautical Manufacturing Engineering, Nanchang Hangkong University,Nanchang, 330063, China

会议类型: 国际会议

会议名称: the 2012 International Conference on Frontiers of Mechanical Engineering and Materials Engineering (机械工程与材料工程国际会议())

会议地点: 香港

会议语种:英文

页码: 1623-1627

在线出版日期: 2012-07-27（万方平台首次上网日期，不代表论文的发表时间）