基于动力学模型的移动焊接机器人焊缝轨迹自动跟踪  

Automatic control of weld trajectory tracking of mobile welding robot based on dynamic model

作　　者：魏召刚 罗鹤晖[2] 

机构地区：[1]山东工业职业学院,山东淄博256414 [2]山东铝业公司,山东淄博256414

出　　处：《电焊机》2015年第2期82-85,共4页Electric Welding Machine

基　　金：山东省科技厅高校科技计划资助项目(J13LN05)

摘　　要：焊缝跟踪过程中对于精度的较高要求使跟踪系统的动力学问题变得尤为突出。针对该问题建立了一种移动焊接机器人的动力学模型,该模型具有非完整的力学系统形式。在焊接机器人动力学以及十字滑块协调控制的基础上,设计了滑模变结构控制器,并考虑了外界因素,如电机动力学、机器人惯性、工件表面粗糙度等对精度的影响。理论和仿真结果表明,建立的动力学模型以及滑模变结构控制的算法正确有效,为智能自动控制方法在焊接机器人的离线编程、动态控制机仿真等方面奠定了基础。High requirements for accuracy in the process of seam tracking make the dynamic problems of tracking system particularly prominent. Aiming at these problems, the dynamic model of the mobile welding robot is established with non-holonomic form of mechanical systems. On the basis of the welding robot dynamics and coordination control of the cross slide block,the sliding mode variable structure controller is designed,and the effects of the external factors,such as motor dynamics,robot inertia and surface roughness on tracking accuracy are considered. Theory and simulated results indicate that the established dynamic model and sliding mode variable structure control algorithm are correct and effective, which lay the important foundation of the intelligent automatic control method for the robot off-line programming and simulation of dynamic control machine.

关 键 词：动力学模型 移动焊接机器人 焊缝轨迹跟踪 自动化 

分 类 号：TG409[金属学及工艺—焊接]