Abstract:In view of the problem of robot welding path planning in ship sub-assembly and unit assembly, a welding path planning method based on the point-position classification combined with the fast searching random tree is proposed. With the method, the key point-positions on the path are classified according to the engineering practice, the random tree is used to expand the nodes between the point-positions, and the constraint conditions that the trajectory points need to meet are determined according to the point-position types, so as to construct a complete welding path. In order to verify the effectiveness of the method, a simulation program written by Python is used to simulate the path planning effect in the barrier-free environment and barrier environment respectively, which proves that the welding path can be generated with or without the barriers and the generated path can avoid the barriers smoothly. The simulation results show that the method can be used for the robot welding path planning.