The Study of Intelligent Metal Filling Strategy on Welding Robot Thick Plate Welding

摘要

This paper has established the robot model of three-arm and five-degree freedom increasing large scope of traversing welding and given decoupling method of model in "large scope of traversing", "triangle movement of two arms" and "spherical movement of one arm". This has completed the image of using geometrical to calculation the inverse problem of kinematics and has eliminated the blind spots of the motions of welding gun of welding robot. With 2D function of laser sensor, it realizes the non-contact detection of weld edge, the estimate of the amount of welding metal filling. Then, it gives a intelligent metal filling strategy of 45 degree horizontal butt weld for many times. The result of test works well.