基于轨迹动态规划的移动机器人焊道自动跟踪  

Seam tracking based on dynamic trajectory planning for a mobile welding robot

作　　者：洪宇翔[1] 都东[1] 潘际銮[1] 李湘文[2] 

机构地区：[1]清华大学先进成形制造教育部重点实验室,北京100084 [2]湘潭大学复杂轨迹加工工艺及装备教育部工程研究中心,湘潭411105

出　　处：《焊接学报》2015年第10期25-28,114,共4页Transactions of The China Welding Institution

基　　金：国家自然科学基金资助项目(51375257);国家自然科学基金资助项目(51405414);湖南省自然科学省市联合基金项目(2015JJ5013);清华大学自主科研计划资助项目(2014Z05093)

摘　　要：针对大型构件复杂轨迹焊缝自动焊中的移动机器人跟踪控制滞后和焊接轨迹频繁振荡等问题,提出一种基于轨迹动态规划的焊道跟踪方法.利用结构光传感器检测区域超前于电弧的优势,实时获取焊接区前方焊缝位置特征信息实现对焊道轨迹宏观走向的超前感知,基于焊道等距逼近思想动态规划移动机器人运动轨迹,结合电弧传感技术实时检测焊接偏差信息,通过机器人本体与机载执行机构的协同控制对焊接轨迹进行动态补偿.结果表明,该方法提高了复杂轨迹焊缝跟踪中焊接速度一致性及焊接轨迹平滑度,改善了焊道弯曲或折角处的焊缝成形质量.A new seam-tracking method based on dynamic trajectory planning for mobile welding robot is proposed in order to improve the response lag of the mobile robot and the high frequency oscillation in seam tracking. By using front-placed laserbased vision sensor to extract dynamically the location of weld seam in front of torch,the trend and direction of the weld line is roughly obtained. Than the robot system autonomously performs trajectory planning dynamically based on the isometric approximation model. Arc sensor technology is applied to detect the offset during welding process in real time. And the dynamic com-pensation of weld path is done in combination with the control of mobile robot and the executive body installed on it. Simulation and experiment results demonstrate that the method can effectively increase the stability of welding speed and smoothness of weld track and hence the weld forming in the curve and corner is improved.

关 键 词：焊接自动化 焊缝跟踪 移动机器人 轨迹动态规划 

分 类 号：TG409[金属学及工艺—焊接]