移动焊接机器人的坡口自寻迹算法及实现  

Algorithm and Implementation of Auto-searching Weld Line for Welding Mobile Robot

作　　者：张轲[1] 吕学勤[1] 金鑫[1] 吴毅雄[1] 

机构地区：[1]上海交通大学焊接工程研究所,上海200030

出　　处：《机器人》2004年第6期519-523,528,共6页Robot

摘　　要：介绍了具有自寻迹功能的移动焊接机器人的系统组成 ,在分析移动机器人运动学模型的基础上 ,讨论了机器人坡口自寻迹的算法以及实现过程 ,最后重点分析了自寻迹过程中的轨迹规划 .试验结果表明 :研制的移动焊接机器人能成功地完成焊前的自寻迹任务 ,误差精度可控制在± 1.5mm左右 。Firstly, the configuration of welding mobile robot is introduced, then algorithm and implementation of auto searching weld line is presented on the basis of kinematics model of the robot, at last trajectory planning among auto searching weld line is investigated in detail. The experiment result shows that the developed welding mobile robot can successfully implement the task of auto searching weld line before welding, and the tracking error can be controlled within approximate ±1.5mm, satisfying the requirement of practical welding project.

关 键 词：移动焊接机器人 自寻迹 算法实现 轨迹规划 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]