基于WebGL的焊接机器人仿真及多层多道路径规划

打开文本图片集

中图分类号：TG

Abstract：According to the requirements of robot welding motion simulation and multi-layer and multi-chanel path planning，anopen robot welding of-line programming system based on WebGL is developed.Firstly，a robot MAG welding system basedon laser vision sensing is built，and then a simulation platform is built byusing JavaScript， WebGL and other technologies.The three-dimensional point cloud data of weld bead is obtained through the sensor， andthepoint cloud procesing technology isused to extract the weldbead feature information.Onthis basis，a multilayer and multi pass path planning strategy for 20mm thickV-groove steel plate isfurtherproposed，Finally，the welding experiment of 4 layers and 10 passes of V-groove was completed.The results show that the system provides a reliable way to realize the key technologies of robot welding automation and intelligence.

Key Words： WebGL; Laser vision sensing; Multi-layer and multi-channel path planning

0前言

技术已成为机器人焊接自动化、智能化的重要标志[1-3]。（剩余8128字）