CONSIDERATIONS ABOUT THE MOTION TRAJECTORY PLANNING OF A 5R ROBOT, IMPLEMENTED IN A WELDING PROCESS

Florin BUGNAR

Abstract


The article describes the process of planning the motion trajectory of the 5R articulated industrial robot used in welding processes. The work cycle is described and divided into phases. The (4-3-4) method of motion planning is introduced and applied for a phase of the technological process. The phase is then divided into path segments and the variation table of the generalized coordinates is established. The restrictions in coordinates, velocities and accelerations are imposed, used as input data in the path modeling algorithm. As an example, the polynomial interpolation functions for the first phase of the technological process are determined, as well as their corresponding graphs, in normalized time.


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References


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