Research on Welding Trajectory and Workspace Simulation of Arc Welding Robot

According to D-H rule, the coordinate system is established. And the model of arc welding robot IRB-1410 is built on MATLAB platform. In order to fit the welding trajectory of arc welding robot, four target points are determined in the working area of the robot, and the straight line and circular arc trajectory are planned with MATLAB. In order to prove the correctness of trajectory planning method in the simulation environment of MATLAB, the same model of the robot was built with RobotStudio. Because RobotStudio’s end trajectory is the same as the actual robot’s end trajectory and it is convenient to record. By comparing whether the trajectory on the MATLAB platform is consistent with the end trajectory on RobotStudio, the correctness of the trajectory planning made by MATLAB is proved. A point cloud map of the robot workspace is generated by solving the random value of the end position using the Monte Carlo method and the forward kinematics function of the robot. The point cloud map of the robot workspace is identical as the provided robot workspace from ABB (the robot company). The method generated boundary curve of the robot workspace overcomes the uneven distribution of random points in the Monte Carlo method and the different occurrence probability of internal random points and boundary random points, and it is more uniform and clear.