A Trajectory Planning Method for Industrial Robot Weaving Welding Based on Piecewise Function

Welding with weaving has been used widely to obtain better weld quality and improve the weld efficiency by obtaining the wide weld bead. In this paper, a trajectory planning method based on piecewise function is developed. The proposed method aims to ensure the continuity of velocity in the process of welding. To satisfy continuity requirement, the cycloidal trajectory is employed to construct the piecewise function. At last, the experimental platform which is composed of 6-axis robot is used to verify the method. The simulation and welding experiment results showed that this method can process more input weaving parameters and generate an accurate trajectory,which verified the practicability and effectiveness of the method.