轮式移动焊接机器人弯曲焊缝跟踪控制  

Curved Seam Tracking Control of a Wheeled Welding Mobile Robot

作　　者：高延峰[1] 张华[1] 彭俊裴[1] 毛志伟[1] 

机构地区：[1]南昌大学江西省机器人与焊接自动化重点实验室,江西南昌330031

出　　处：《机器人》2007年第5期439-442,450,共5页Robot

基　　金：江西省科技攻关计划重点资助项目(20041A0100300)

摘　　要：针对轮式移动焊接机器人在造船、大型球罐焊接等工业生产中的弯曲焊缝跟踪问题,建立了机器人的数学模型.采用积分Backstepping时变状态反馈方法设计了控制器,并利用李亚普诺夫方法证明了该系统的稳定性.针对旋转电弧传感器仅能检测单方向偏差的情况,根据焊枪前端上一时刻和当前时刻的位置对跟踪轨迹的方位角进行估计.控制器在对机器人速度和角速度进行控制的同时,还对十字滑块进行了控制,使跟踪更加快速、平滑.最后,通过数值仿真和机器人实际运动仿真证明了该方法的有效性.A mathematical model is built for the curved seam tracking problem of wheeled welding mobile robot used in shipbuilding and large spherical tank welding. A novel controller is designed which is based on the integral backstepping time-varying state feedback method and the system stability is proved with Laypunov method. In consideration of the fact that the rotating arc sensor can only measure the single orientation errors, the azimuth of the tracking trajectory is estimated based on the previous and current locations of the welding torch＇s front point. Not only the moving and rotating velocity of the robot is controlled, but also the moving velocity of the cross-slider is controlled, making the tracking more quickly and smoothly. In the end, the validity of the method is proved through numerical and practical movement simulations of the robot.

关 键 词：移动焊接机器人 焊缝跟踪 积分Backstepping方法 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]