CN105364266B - 一种机械臂运动轨迹调整***及方法 - Google Patents
一种机械臂运动轨迹调整***及方法 Download PDFInfo
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- CN105364266B CN105364266B CN201510967570.2A CN201510967570A CN105364266B CN 105364266 B CN105364266 B CN 105364266B CN 201510967570 A CN201510967570 A CN 201510967570A CN 105364266 B CN105364266 B CN 105364266B
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- weld seam
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Robotics (AREA)
- Numerical Control (AREA)
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CN201510967570.2A CN105364266B (zh) | 2015-12-18 | 2015-12-18 | 一种机械臂运动轨迹调整***及方法 |
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CN201510967570.2A CN105364266B (zh) | 2015-12-18 | 2015-12-18 | 一种机械臂运动轨迹调整***及方法 |
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CN105364266A CN105364266A (zh) | 2016-03-02 |
CN105364266B true CN105364266B (zh) | 2017-11-28 |
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Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106141472A (zh) * | 2016-07-05 | 2016-11-23 | 纳博特南京科技有限公司 | 一种双机器人双边对称焊接控制方法 |
CN106378513B (zh) * | 2016-11-22 | 2018-07-17 | 深圳华意隆电气股份有限公司 | 兼容基于模拟接口的焊接设备的通讯控制*** |
JP6496340B2 (ja) * | 2017-03-17 | 2019-04-03 | ファナック株式会社 | スキャナ制御装置、ロボット制御装置及びリモートレーザ溶接ロボットシステム |
CN106945047A (zh) * | 2017-04-27 | 2017-07-14 | 上海新朋联众汽车零部件有限公司 | 焊接机器人误差补偿控制***及其控制方法 |
CN109352138A (zh) * | 2018-04-12 | 2019-02-19 | 济南大学 | 一种磁选机介质盒自动焊接工艺及焊接机器人*** |
CN109822230B (zh) * | 2019-01-31 | 2021-12-14 | 大族激光科技产业集团股份有限公司 | 激光切割嘴的运动控制方法、装置和计算机设备 |
CN115210035B (zh) * | 2020-03-05 | 2024-06-25 | 松下知识产权经营株式会社 | 焊道外观检查装置、焊道外观检查方法、程序和焊道外观检查*** |
CN113125463B (zh) * | 2021-04-25 | 2023-03-10 | 济南大学 | 一种用于汽车轮毂焊缝缺陷检测的示教方法及装置 |
CN113649692B (zh) * | 2021-10-19 | 2022-01-14 | 武汉逸飞激光股份有限公司 | 一种焊接控制方法、***、设备及存储介质 |
CN114769962B (zh) * | 2022-05-07 | 2024-01-30 | 广州东焊智能装备有限公司 | 一种基于视觉传感的移动焊接机器人的焊缝识别跟踪*** |
CN117021113B (zh) * | 2023-09-20 | 2024-03-19 | 苏州诺克智能装备股份有限公司 | 一种机械臂协作定位装配方法、***及介质 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
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SU1106613A1 (ru) * | 1983-03-30 | 1984-08-07 | Алтайский политехнический институт | Устройство дл слежени за стыком свариваемых изделий |
US4675502A (en) * | 1985-12-23 | 1987-06-23 | General Electric Company | Real time tracking control for taught path robots |
CN100503126C (zh) * | 2005-12-02 | 2009-06-24 | 桂林电子科技大学 | 焊缝位置和焊枪悬浮高度同步跟踪传感检测方法及其装置 |
TW200827083A (en) * | 2006-12-20 | 2008-07-01 | Techaction Electric Co Ltd | Welding device capable of micro tracking |
CN101554672B (zh) * | 2009-05-21 | 2011-05-04 | 山东大学 | 基于激光测距的集装箱波纹板焊接轨迹检测与控制*** |
CN103182589B (zh) * | 2011-12-30 | 2015-10-21 | 中国科学院沈阳自动化研究所 | 基于电弧摆动的气体保护焊电弧跟踪方法 |
CN103472065A (zh) * | 2013-09-06 | 2013-12-25 | 鞍钢股份有限公司 | 一种钢板表面图像采集及数据传输方法 |
CN103978324A (zh) * | 2014-04-23 | 2014-08-13 | 中国科学院合肥物质科学研究院 | 一种双核五轴焊接机器人控制*** |
CN205437436U (zh) * | 2015-12-18 | 2016-08-10 | 广东省自动化研究所 | 一种机械臂运动轨迹调整*** |
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