基于单层神经元的移动焊接机器人焊缝跟踪方法研究  

Seam tracking method of mobile welding robot based on single layer neural network

作　　者：王霄霞 

机构地区：[1]乌海职业技术学院,016000

出　　处：《焊接》2015年第7期66-69,76,共4页Welding & Joining

摘　　要：针对移动焊接机器人焊缝跟踪过程中不确定性因素造成的焊接精度不高的问题,阐述了焊缝跟踪的基本原理并得到了其误差模型,同时建立了基于速度误差的移动焊接机器人动力学模型。为缩短计算周期同时保证控制系统的自适应性,基于单层神经元网络设计了一种焊缝跟踪自适应控制器,并采用Lyapunov函数判定了系统的稳定性。通过MATLAB仿真试验验证了基于单神经元的移动焊接机器人焊缝跟踪方法具有较好的抗干扰性和鲁棒性,表明了所述方法的有效性和正确性。The seam tracking precision of mobile welding robot is not high,which can cause the uncertainty factors in the welding process.The basic principle of seam tracking was introduced and its error model was obtained in this paper.At the same time,the dynamic model of mobile welding robot was established based on velocity error.In order to shorten the calculation period and guarantee the adaptability of the control system,a seam tracking adaptive controller was designed based on single layer neural network,and the stability of this system was judged by using the Lyapunov function.The MATLAB simulation experiments were carried out.And the simulation results show that the seam tracking method based on single layer neural network has good anti- interference performance and robustness,which indicates the effectiveness and correctness of the developed method.

关 键 词：移动焊接机器人 焊缝跟踪 单层神经网络 动力学 

分 类 号：TG401[金属学及工艺—焊接]