移动式焊接机器人焊缝跟踪控制研究  

Welding seam tracking control of mobile welding robot

作　　者：柳长春[1] 郑军[1] 吴峰[1] 潘际銮[1] 

机构地区：[1]清华大学机械工程系先进成形制造教育部重点实验室,北京市100084

出　　处：《焊接》2012年第9期21-24,69,共4页Welding & Joining

基　　金：水下焊接机器人(863计划)(041502022)

摘　　要：针对在工业中有广泛应用前景的移动式焊接机器人,建立了机器人数学模型,并根据工作情况,对其进行了简化处理,在此基础上设计了控制器,并用李雅普诺夫直接法证明了该控制器的全局一致收敛性。对于弯曲焊缝跟踪问题,提出采用双线激光视觉传感器检测机器人位置偏差和姿态角偏差的方法,基于姿态角偏差的变化率,在线估计参考角速度的值。仿真和机器人运动试验验证了该控制方法的有效性。Mobile welding robots have wide application prospects in the industry.The mathematical model of the robot was established and simplified according to the work situation,and the controller was designed.It was proved that the controller with Lyapunov method can guarantee global uniform convergence of tracking error.For curved welding seam tracking,double - line laser vision sensor was used to detect deviation of the robot position and attitude angle.Based on the change rate of the deviation of attitude angle,the value of the reference angular velocity was online estimated.Simulation and robot experiments verified the effectiveness of the control method.

关 键 词：移动焊接机器人 焊缝跟踪 李雅普诺夫方法 双线传感器 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]