Earticle

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

Abstract
 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

키워드

저자

• Caidong Wang [ College of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Zhengzhou, 450002, China ]
• Xinjie Wang [ College of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Zhengzhou, 450002, China ]
• Hui Zheng [ College of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Zhengzhou, 450002, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605