一种新型爬壁焊接机器人的焊缝跟踪控制  

Seam tracking control simulation of a new wall-climbing welding robot

作　　者：袁文剑 柯尊荣[1] 毛志伟[1] 李向春 YUAN Wenjian;KE Zunrong;MAO Zhiwei;LI Xiangchun(School of Mechatronics Engineering,Nanchang University,Nanchang 330031,China)

机构地区：[1]南昌大学机电工程学院

出　　处：《南昌大学学报（工科版）》2019年第2期173-177,182,共6页Journal of Nanchang University(Engineering & Technology)

基　　金：国家自然科学基金资助项目(51265036)

摘　　要：针对一种新型轮式移动焊接机器人研究其壁面焊缝跟踪控制,通过Pro/E与ADAMS建立机器人的虚拟样机模型,基于旋转电弧传感器采用特征平面法拟合偏差斜率的线性关系,在此基础上结合PID与模糊控制设计机器人的控制器,并联合ADAMS与MATLAB进行壁面V形焊缝跟踪控制仿真,仿真验证了偏差检测的准确性及控制器的有效性,证明机器人具有实现壁面焊接的能力。The control of the wall weld seam tracking based on a new wheeled mobile welding robot was studied.Firstly,the virtual prototype model of the robot was established by Pro/E and ADAMS.The linear relationship of the deviation slope was fitted by the feature plane method based on the rotating arc sensor.Based on the PID and fuzzy control design robot controller,combination with ADAMS and MATLAB for wall V-weld seam tracking control simulation,the simulation verified the accuracy of deviation detection and the effectiveness of the controller,proving that the robot has the ability to achieve wall welding.

关 键 词：爬壁焊接机器人 特征平面法 自适应模糊PID 焊缝跟踪 联合控制仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TC444.2[自动化与计算机技术—控制科学与工程]