移动式焊缝跟踪机器人跟踪精度分析方法  

A analysis method of seam tracking accuracy based on wheeled robot

作　　者：洪波[1] 张淇淋[1] 李湘文[1] 尹力[1] 

机构地区：[1]湘潭大学机械工程学院,湘潭411105

出　　处：《焊接学报》2012年第1期13-16,113,共4页Transactions of The China Welding Institution

基　　金：国家自然科学基金资助项目(50975243);湖南省教育厅资助项目(09C950)

摘　　要：以对实验室4自由度轮式焊缝跟踪机器人跟踪精度的研究为基础,提出了一种新的焊缝跟踪精度评估表征方法,并对焊缝偏差建立了D-H坐标系下的5参数模型.基于此模型,对影响焊缝跟踪精度的主要误差源进行了理论分析.通过对定步长与变步长焊缝跟踪控制方法的仿真分析,验证了所提出精度分析方法以及建立模型的正确性及有效性,得出影响焊缝跟踪精度的主要原因为焊缝跟踪控制算法以及机器人自身定位精度.结果表明,该精度分析方法对于焊缝跟踪控制的机器人误差补偿及焊缝跟踪控制方法改进具有一定的参考价值.Based on the research of the wheeled robot seam tracking accuracy in 4 degrees of freedom,a new characterization assessment of seam tracking accuracy method was proposed,and 5-parameter model under D-H coordinate system in seam bias was built up as well.By this model,the main error sources affecting the accuracy of seam tracking is theoretically analyzed.Through the simulation analysis of fixed-step and variable step method of seam tracking control,the correctness and validity to accuracy of analytical methods and modeling presented in this paper were verified,the main reason affecting seam tracking accuracy was seam tracking control algorithm and robot positioning accuracy.The accuracy analysis method have guiding significance for seam tracking control of robot error compensation and the improvement of seam tracking control method.

关 键 词：焊缝跟踪 机器人 精度 

分 类 号：TG409[金属学及工艺—焊接]