The methods and algorithms for generating of program trajectories for robotic manipulators of arc welding
Abstract
The new effective methods and algorithms were developed for generating of program trajectories for robotic manipulators of arc welding with account of technological limits. The proposed methods and algorithms, in contrast to the known ones, allow to effectively take into account the shape of the welded seam, as well as the constraints imposed on its orientation. The effectiveness of the developed methods and algorithms is confirmed by the results of experiments with models of robot-manipulators.
About the Authors
M. M. Kozhevnikov
Mogilev state university of food technologies
Belarus
PhD., associate professor, chief of department of automation of technological processes and production procedures
Belarus
PhD., associate professor, chief of department of automation of technological processes and production procedures
O. A. Chumakov
Belarusian state university of informatics and radioelectronics
Belarus
PhD, associate professor, associate professor of department of control sistems
Belarus
PhD, associate professor, associate professor of department of control sistems
I. E. Ilushin
Mogilev state university of food technologies
Belarus
Belarus
Ilushin Igor Eduardovich - assistant of department of automation of technological processes and production procedures
212027, Mogilev, Shmidta av., 3, 314
tel. + 375-222-48-56-76
L. A. Loboreva
Mogilev state university of food technologies
Belarus
assistant of department of automation of technological processes and production procedures
Belarus
assistant of department of automation of technological processes and production procedures
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Review
For citations:
Kozhevnikov M.M., Chumakov O.A., Ilushin I.E., Loboreva L.A. The methods and algorithms for generating of program trajectories for robotic manipulators of arc welding. Doklady BGUIR. 2019;(1):19-25. (In Russ.)
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