中文摘要：

轨迹规划是移动焊接机器人轨迹控制的基础，是该系统中重要的组成部分；为了提高多关节移动焊接机器人轨迹规划的效率和精确性，同时考虑到多关节焊接机器人的运动特性提出了一种梯度下降法和二分法结合的轨迹规划方法；移动焊接机器人由机械杆和机器人移动平台组成，由于移动平台提供移动性使得移动焊接机器人相对固定的机械臂有更大的工作空间；近年来，此类系统的研究已在经学术界和工业界迅猛发展；论文首先建立移动焊接机器人的运动学模型，并且阐述梯度下降法和二分法结合算法的设计步骤；然后，采用典型的正弦波形作为焊缝轨迹，通过仿真验证该方法的应用前景和可行性。

英文摘要：

Trajectory planning of mobile welding robot is the basis for trajectory control. It is important part of mobile welding robot system. In order to improve the trajectory planning efficiency and accuracy of multi-joint mobile welding robot, the paper propose a method of combination of gradient descend and dichotomy consider of feature of multi-joint mobile welding robot. Multi-joint mobile welding robot composed of a manipulator and a mobile platform has a much larger work space than a fixed-base manipulator due to the mobility provided by the platform. In recent years, the study of mobile manipulator systems have aroused rapid development in academia and industry, firstly, ki nematic model was built, and propose the method of combination of gradient descend and dichotomy design process. After that, sine curve was chosen as typical input, and demonstrate technological application values and high feasibility.