关键词: 焊接机器人, 轨迹规划, 仿真

Abstract: During solving inverse kinematics problems of welding robot,there are often multiple solutions or even no solution.A trajectory planning method based on CAD/CAM technology was put forward to overcome the above disadvantages.Three dimensional modeling CAD technology and post-processing CAM technology were combined to realize the curve interpolation calculation of the welding trajectory and welding torch pose.Then the welding trajectory and welding torch pose were simulated,according to the accurate robot motion parameters of each joint gained by using MATLAB software.Through the simulation,analyse the changes of the welding robot kinematics parameters of each joint,and verify the accuracy and reliability of the data by compared with the theoretical mathematical model,provide theory basis for realizing the trajectory planning of different types of welding seams of intersection.

Key words: welding robot, trajectory planning, simulation