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Vol. 169, Issue 4, April 2014, pp. 111-116




Trajectory Planning of Welding Robot Based on Terminal Priority Planning

1, 2 Chi GAO, 2 Minzhou LUO, 2 Fayong GUO, 1 Hui GAO

1 Mechanical and Electronic Department of Laiwu Vocational and Technical College, Laiwu, Shandong Province, 271100, China
2 Institute of Advanced Manufacturing Technology, Changzhou, Jiangsu Province, 213164, China
1 Tel.: +86 13963402679, fax: +86 06346427409

E-mail: wwwgc119@163.com


Received: 26 December 2013 /Accepted: 7 March 2014 /Published: 30 April 2014

Digital Sensors and Sensor Sysstems


Abstract: In order to improve the trajectory planning efficiency and accuracy of multi-joint welding robot, according to the movement feature of multi-joint welding robot, the paper analyzed on existing problems in spatial joint planning of the robot, proposed a terminal priority planning method of robot joint planning, based on the study of energy conservation and accuracy of robot terminal. Using this method, the paper proceeded planning of welding robot joint, stated implementation procedure of joint planning, conducted simulated test simulating welding robot, the result demonstrated that the research is of high feasibility and technological application values.


Keywords: Welding robot, Trajectory planning, Terminal priority planning, Energy conservation, Accuracy.


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