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Vol. 161, Issue 12, December 2013, pp. 186-191




The Research on Collision-free Trajectory Planning for Welding Robot Based on Fishertechnik Model
Liu Ming Dan, Lü Xiao-Rong, Qixiang-Jun

The Information & Engineering Technology College Sichuan Agricultural University 625014 Sichuan Yaan, China
E-mail: qxj@sicau.edu.cn


Received: 9 October 2013   /Accepted: 22 November 2013   /Published: 30 December 2013

Digital Sensors and Sensor Sysstems


Abstract: Based on the path and collision-free that welding robot should do in the period of machining, a trajectory plan for certain collision-free movement for robot is provided in this paper. The first is searching the collision-free path through subdivision the working space by tangent plane projection in concentric cylinder coordinate system. The second is to assemble the welding robot with three degrees of freedom in order to confirm the collision-free trajectory when welding. Finally, obtain the optimized path by software simulation.


Keywords: Welding robot, Collision-free, Trajectory, Simulation.


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