移动焊接机器人及混合控制  

Mobile Welding Robot and Hybrid Controller

作　　者：李月华[1] 张华[1] 叶建雄[1] 

机构地区：[1]南昌大学机器人与焊接自动化实验室,江西南昌330031

出　　处：《工业控制计算机》2007年第7期9-10,共2页Industrial Control Computer

基　　金：爬行式智能焊接机器人的研究(国家自然科学基金资助项目50075037)

摘　　要：针对目前焊接系统自动化程度低、控制方式单一等特点,介绍了一种采用旋转电弧传感器的移动焊接机器人系统,给出了相关部分的原理和结构;针对该机器人,设计了含多种控制方法的混合控制器。整个系统采用模糊控制、PI控制、bang-bang控制相结合的方法,对控制策略进行了分析,通过实验论证了系统整体的性能。Aiming at the problem that the degree of automation is low and the way of control is single in welding system,a newly welding-robot system based on arc sensor is designed in this paper,the construction of system.the function of each part and the relative control method are put forward;for this robot,a controller contain several control methods such as fuzzy controI,PI-control,bang-bang control is designed.The effectiveness and reasonableness of robot are proved by test,at last,conclusions and suggestion are made for its widely use.

关 键 词：焊接机器人 焊缝跟踪 混合控制器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]