Welding robots have been widely used with the development of manufacturing industry. At present, welding trajectory planning and programming of welding robots are performed separately for similar (structural) workpieces with different dimensions or deformations. Besides, the welding torch pose planning using conventional robot programming methods is time-consuming for workpieces with complex welding trajectories. To realize automatic planning of the welding torch pose for similar workpieces and improve the programming efficiency of welding robots, we propose a novel model-based welding trajectory planning method for welding robots. We create a basic model (point set) containing information on welding seam trajectory planning for similar workpieces. The welding seam trajectory extraction of similar workpieces is achieved by the non-rigid point set registration of the feature point cloud of similar workpieces with the basic model. Then, the welding torch pose planning is implemented by the geometric projection method of the local point cloud of the welding seam trajectory. Finally, the results of offline experiments and online experiments demonstrate the effectiveness of the proposed method.

中文翻译：

---

一种基于模型的相同结构工件焊接轨迹规划方法

随着制造业的发展，焊接机器人得到了广泛的应用。目前，焊接机器人的焊接轨迹规划和编程都是针对不同尺寸或变形的类似（结构）工件分别进行的。此外，对于具有复杂焊接轨迹的工件，使用传统的机器人编程方法进行焊枪位姿规划非常耗时。为了实现相似工件焊枪位姿的自动规划，提高焊接机器人的编程效率，提出了一种基于模型的焊接机器人焊接轨迹规划方法。我们创建一个基本模型（点集），其中包含类似工件的焊缝轨迹规划信息。通过对相似工件的特征点云与基础模型进行非刚性点集配准，实现相似工件焊缝轨迹的提取。然后，通过焊缝轨迹局部​​点云的几何投影方法实现焊枪位姿规划。最后，离线实验和在线实验的结果证明了所提方法的有效性。