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HP-6 robot trajectory tracking technology

Author: NieXiaoBo
Tutor: YinJiYing
School: North China University of
Course: Mechanical Manufacturing and Automation
Keywords: Robot Tracking Sensor
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 112
Quote: 1
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Abstract


Motoman robot 's HP-6 robot is a six degree of freedom rotary joints Universal Robots , as the Second Generation of mature technology industrial robots in the domestic automobile manufacturing and machining industry fields are widely used welding process . HP-6 robot through virtual simulation teaching or offline programming preset job tasks , in theory, be able to pre- formed curved path along any space welding tasks. However, the above conventional operating mode is essentially rigid , when the original weld track changes , it will cause deviation of the actual trajectory of the welding seam resulting in waste . Effective way to solve the welding robot with seam trajectory tracking. Since HP-6 robot system has intellectual property rights , and its existing system does not accept non- authorized changes and therefore can not refer to other existing achievements to get seam tracking capabilities. This thesis has taken Motoman Robotics Development authorized software and hardware to achieve the seam tracking function of the basic ideas and approaches . In HP-6 robot control system NX-100 universal sensor communication substrate configuration JANCD-NCP02, and on this basis, combined with software programming seam tracking system was developed in line with the actual welding seam trajectory planning to minor magnitude bias shift , the implementation of the actual welding torch head position tracking the three-dimensional directions . This thesis is also the first laboratory dedicated to the HP-6 robot welding system has been integrated kinematic analysis , gives a complete robotic welding system kinematics equation , and verified for the subsequent conduct a deeper study of intelligent robotic welding system a reliable basis for kinematics .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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