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In this paper, we propose a synchronous cooperative path planning (SCPP) algorithm for the robot and the positioner to process complex space curve workpieces. The specific algorithm design is illustrated by using the intersecting line welding as an example. The robot and positioner are regarded as an 8-degree-of-freedom (DOF) system to plan the whole synchronous cooperative motion path, and the constraint for the Y-axis of the welding torch coordination system is added for solving the intersecting line orientation information. SCPP is used to process the intersecting line. The changes of welding torch orientation and robot joint rotation angles during welding of the intersecting line by using the improved method and compared to the traditional method. The experimental results show that 8-DOF keeps synchronous cooperative in the whole movement. There is no interference happening during the entire cooperative movement and the welding torch’s orientation remains basically unchanged during the welding intersecting line.

The Path Planning of Synchronous Cooperative Motion Control between Robot and Positioner for Complex Space Curve Processing