One for the vessel weld inspection, control system and method for controlling movement of the robot

One for control system and control method vessel weld inspection robot movement, the present invention relates to a control system and control method to check the robot motion. The present invention is to solve the prior art does not provide a domestic vessel weld inspection robot trajectory planning method. Check the machine motion control system comprising: checking machine motion control system consists of human-computer interaction subsystem, the power management subsystem, subsystem and robot motion control subsystems; planning and design five kinds of checking the track: cylinder weld inspection track to take over the welding sew check the track, the track intersecting weld inspection, traffic control and track fillet weld inspection bottom head weld inspection track, and then generate container weld trajectories robot through the five tracks, according to human-computer interaction subsystem dense motion point on the trajectory through the motion control subsystem controls the robot to complete the inspection task. Detection of the present invention is used in nuclear power, chemical and other fields of large high-risk containers.