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In welding tasks, the repeated positioning precision of robots can generally reach the micron level, but the data of each axis during each operation may vary. There may even be out-of-control situations where the robot does not run according to the set welding trajectory, which may cause the robot and equipment to collide and be damaged. Therefore, a real-time judgment method for the welding robot trajectory is proposed. Firstly, multiple sets of axis data are obtained by running the welding robot, and the phase of the data is aligned by using a proposed algorithm, and then the Kendall correlation coefficient is used to identify and remove weak axis data. Secondly, the mean of multiple sets of axis data with strong correlation is calculated as the standard trajectory, and the trajectory threshold of the robot is set using the μ ± nσ method based on the trajectory deviation judgment sensitivity. Finally, the absolute difference between the real-time axis trajectory and the standard trajectory is used to determine the deviation of the running trajectory. When the deviation reaches the threshold, a forewarning starts. When the deviation exceeds the threshold + σ, the robot is stopped. Take the six-axis welding robot as an example, by collecting the axis data of the robot running multiple times under the same conditions, it is proved that the proposed method can accurately warn the deviation of the running trajectory. The research results have important practical value for the prevention of welding robot accidents in industrial production.
Wu et al. (Wed,) studied this question.