标题：Trajectory and velocity planning of the robot for sphere-pipe intersection hole cutting with single-Y welding groove
作者：Liu Yan; Liu Ya; Tian Xincheng
作者机构：[Liu Yan; Liu Ya; Tian Xincheng] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Shandong, Peoples R China.
通讯作者：Tian, Xincheng;Tian, XC
通讯作者地址：[Tian, XC]Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Shandong, Peoples R China.
来源：ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
关键词：Sphere-pipe intersecting curve; Trajectory planning; Single Y-groove;; Robot machining; Tool compensation
摘要：The influence of welding preparation and surface treatment of the weldment on welding quality is very important. Single Y-groove technique is a common surface treatment technique in intersecting curve welding. This paper presents a trajectory and velocity planning method for robot to machine a spherical single Y-groove. First, the geometrical models of the sphere-pipe intersection and the single Y-groove are established. This model can cover most of the intersection modes and parameterizes the groove angle and root face height to obtain the optimum process parameters. The above model forms the basis of robot trajectory planning and is the core innovations of this paper. Based on this model and the principle of three-dimensional tool compensation, our paper designs the interface of cutting robot tool compensation. Through this interface, the operators can flexibly change the radius to adapt to different tools or cutting torches, which can fulfill the requirements of dynamic compensation. As the goal of our paper, this method gives a general trajectory description of the robot and introduces two algorithms for the velocity planning to ensure the stability of the robot velocity. Finally, this paper takes the plasma cutting as example, and gives the relevant algorithm to solve the optimal start position and orientation of the plasma torch, which can avoid the cutting defects.