摘要
研究了以旋转电弧作为传感器,采用轮式移动机器人对折线焊缝进行跟踪的协调控制方法。设计了自适应模糊控制器对十字滑块和车轮进行协调控制,通过控制机器人移动对焊缝进行粗略跟踪,同时调整十字滑块带动焊枪对焊缝进行精确跟踪。为了使机器人的移动方向与焊缝走向一致,采用Sugeno型模糊逻辑系统作为滤波器对机器人本体的方位角偏差进行滤波处理,使机器人本体在跟踪焊缝的直线段时做直线运动,在跟踪焊缝的曲线段时做转弯运动。结果表明,该算法能够成功应用于最大为60°的折线焊缝和Z形焊缝的自动跟踪焊接。
A coordinate control method was proposed for wheeled welding robot with rotational arc as sensor to track broken-line welding seam. Self-turning fuzzy controller was designed to complete coordinately controlling of cross-slider and wheels,and exactly welding seam tracking was realized by use of the controller.To make the robot s moving direction parallel to the welding seam direction,Sugerno fuzzy logic system was used as a filter to process the robot s orientation errors,which makes the robot move along wh...
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2008年第5期33-36,114,共5页
Transactions of The China Welding Institution
基金
江西省科技重点攻关项目(20041A0100300)
关键词
焊缝跟踪
轮式机器人
模糊控制
welding seam tracking
wheeled robot
fuzzy control
