Kinematics Analysis and Trajectory Planning of UR5 Robot Intersecting Welding Model based on Matlab
In order to solve the problem of robot welding path planning for welding work at the ball pipe joints，taking the UR5 welding robot as a reference，the models of ball pipe intersection curve is established and the parameter equation of the curve is derived，the D-H coordinate system is established，the...
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.12.011 |
| _version_ | 1797819587826286592 |
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| author | Chengchao Yang |
| author_facet | Chengchao Yang |
| author_sort | Chengchao Yang |
| collection | DOAJ |
| description | In order to solve the problem of robot welding path planning for welding work at the ball pipe joints，taking the UR5 welding robot as a reference，the models of ball pipe intersection curve is established and the parameter equation of the curve is derived，the D-H coordinate system is established，the forward and reverse directions are solved respectively，by using the Matlab and Adams joint simulation，the trajectory planned path of end effector and the angular velocity and angular acceleration time change curve of each joint are obtained. The test shows that the UR5 welding robot model is correct and reasonable，has good kinematics performance，and has no sudden changes in the posture during the welding process. It also verifies the rationality and reliability of the trajectory planning operation space of the intersecting welding seam. It provides a verification method for welding operations in a complex working environment. The verification method can provide theoretical support for further research on prototype control. |
| first_indexed | 2024-03-13T09:25:53Z |
| format | Article |
| id | doaj.art-17b31e776ece4be494bb8228494e215a |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:25:53Z |
| publishDate | 2021-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-17b31e776ece4be494bb8228494e215a2023-05-26T09:34:55ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-01-0145687324395669Kinematics Analysis and Trajectory Planning of UR5 Robot Intersecting Welding Model based on MatlabChengchao YangIn order to solve the problem of robot welding path planning for welding work at the ball pipe joints，taking the UR5 welding robot as a reference，the models of ball pipe intersection curve is established and the parameter equation of the curve is derived，the D-H coordinate system is established，the forward and reverse directions are solved respectively，by using the Matlab and Adams joint simulation，the trajectory planned path of end effector and the angular velocity and angular acceleration time change curve of each joint are obtained. The test shows that the UR5 welding robot model is correct and reasonable，has good kinematics performance，and has no sudden changes in the posture during the welding process. It also verifies the rationality and reliability of the trajectory planning operation space of the intersecting welding seam. It provides a verification method for welding operations in a complex working environment. The verification method can provide theoretical support for further research on prototype control.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.12.011UR5 welding robot;Ball pipe intersection trajectory planning;Matlab robot toolbox;Adams simulation |
| spellingShingle | Chengchao Yang Kinematics Analysis and Trajectory Planning of UR5 Robot Intersecting Welding Model based on Matlab Jixie chuandong UR5 welding robot;Ball pipe intersection trajectory planning;Matlab robot toolbox;Adams simulation |
| title | Kinematics Analysis and Trajectory Planning of UR5 Robot Intersecting Welding Model based on Matlab |
| title_full | Kinematics Analysis and Trajectory Planning of UR5 Robot Intersecting Welding Model based on Matlab |
| title_fullStr | Kinematics Analysis and Trajectory Planning of UR5 Robot Intersecting Welding Model based on Matlab |
| title_full_unstemmed | Kinematics Analysis and Trajectory Planning of UR5 Robot Intersecting Welding Model based on Matlab |
| title_short | Kinematics Analysis and Trajectory Planning of UR5 Robot Intersecting Welding Model based on Matlab |
| title_sort | kinematics analysis and trajectory planning of ur5 robot intersecting welding model based on matlab |
| topic | UR5 welding robot;Ball pipe intersection trajectory planning;Matlab robot toolbox;Adams simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.12.011 |
| work_keys_str_mv | AT chengchaoyang kinematicsanalysisandtrajectoryplanningofur5robotintersectingweldingmodelbasedonmatlab |