Dynamic modelling, identification and simulation of industrial robots: for off-line programming of robotised laser welding
Dynamic modelling, identification and simulation of industrial robots: for off-line programming of robotised laser welding
复制标题
工业机器人的动态建模、识别和仿真：用于机器人激光焊接的离线编程
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
R. Waiboer
中科院分区：
文献类型：
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作者：
R. Waiboer
机器人激光焊接是一种创新的连接技术，它的应用越来越广泛，特别是在汽车工业中。为了减少准备和编程激光焊接机器人所需的时间，使用离线编程系统。当前可用的离线编程系统仅允许机器人运动的运动学模拟，这不足以适当地先验预测焊接焊缝的能力，因为没有考虑路径跟踪精度中的动态影响。将离线编程系统与机器人运动的动态仿真相结合，可以提前预测路径跟踪误差。
Robotised laser welding is an innovative joining technique which is increasingly finding applications, especially in the automotive industry. In order to reduce the time needed to prepare and programthe laser welding robot, off-line programming systems are used. The off-line programming systems currently available only allow kinematic simulations of the robot motion, which are insufficient for a proper a priori prediction of the ability to weld the seam as dynamic effects in the path tracking accuracy are not taken into account. Combining off-line programming systems and dynamic simulations of the robot motion makes it possible to predict the path tracking errors in advance.