Task planning for collaborative welding of ship dual-arm robots

In order to improve the welding efficiency of ship assembly components, a collaborative welding task planning method is proposed for ship dual arm welding robots. Firstly, a kinematic model of the welding robot is established using the D-H method and kinematic analysis is conducted. Then, based on the establishment of a collaborative welding system, decoupling of the motion chain and collaborative motion constraints are carried out. Finally, trajectory planning simulations are conducted on the ship dual arm robots using both Matlab and Robotstudio software. The simulation results show that the ship dual arm robots can achieve collaborative planning of welding tasks based on the circular arc path, which verifies the effectiveness of the proposed planning method.