基于模糊控制器的曲线焊缝视觉跟踪系统  

Vision-Based Curve Tracking System Using Fuzzy Controller

作　　者：高风昕[1] 

机构地区：[1]黄淮学院数学科学系,河南驻马店463000

出　　处：《控制工程》2016年第1期149-152,共4页Control Engineering of China

基　　金：河南省自然科学基金(122300410307)

摘　　要：设计了基于激光结构光视觉的机器人曲线焊缝跟踪系统。为了实现大范围高精度跟踪,机器人本体采用宏微运动机构,宏动机构负责大范围跟踪,微动机构负责提高跟踪精度。对曲线焊缝进行分段直线拟合,并采用卡尔曼滤波器预测焊缝上各直线段的斜率,通过相邻直线段的斜率差判断焊缝方向,以指导焊枪提前动作,保证其沿着焊缝轨迹行走。为了提高焊缝跟踪时焊枪位置的调节精度,设计了自调节模糊控制器,其输入输出变量所对应的隶属度函数可以根据跟踪状态进行自适应调整。通过实验验证,表明所提方法具有较高的焊缝跟踪精度,性能优于传统的焊缝跟踪控制器。A curve seam tracking system is designed based on laser structure light. To realize precise seam tracking on large scale, a macro-micro robot is designed. The macro mechanism is used to expand the tracking scope, and the micro mechanism is used to improve the tracking precision. The curve seam is fitted by line shapes. Kalman filter is adopted to predict the slope of the lines. The direction of the curve seam is computed by the change of the adjacent two lines, which can be used to guide the torch to follow the seam beforehand. In order to improve the position adjusting precision of the torch in the seam tracking process, a self-tuning fuzzy controller is proposed. Its membership functions can be tuned on-line based on the seam tracking status. Experiments are well conducted to verify the effectiveness of the proposed method. The performance outperforms the traditional seam tracking controller.

关 键 词：曲线跟踪 视觉伺服 焊接机器人 模糊控制 

分 类 号：TP[自动化与计算机技术]