工业机器人焊接平台的精准定位与运动控制研究  

Research on precise positioning and motion control of industrial robot welding platform

作　　者：罗卢洋 谈剑峰 黄海涛 邓火生[2] LUO Luyang;TAN Jianfeng;HUANG Haitao;DENG Huosheng(Guangxi Quality and Technology Engineering School,Nanning 541699,Guangxi China;Guangxi Mechanical and Electrical Vocational and Technical College,Nanning 530007,Guangxi China)

机构地区：[1]广西质量技术工程学校,广西南宁541699 [2]广西机电职业技术学院,广西南宁530007

出　　处：《锻压装备与制造技术》2024年第4期118-121,共4页China Metalforming Equipment & Manufacturing Technology

基　　金：一体化焊接工作站的研究与应用。

摘　　要：本研究构建了工业机器人焊接平台的精准定位与闭环运动控制系统。采用基于视觉与激光传感器融合的改进扩展卡尔曼滤波进行状态估计,以及MPC进行轨迹跟踪控制。系统实现了定位精度±0.05mm、轨迹跟踪精度±0.2mm。高速焊接试验验证了所设计控制策略的出色鲁棒性,误差在最高240mm/s速度下控制在0.32mm以内。In this study,a precise positioning and closed-loop motion control system for industrial robot welding platform were constructed.The improved extended Kalman filter based on the fusion of vision and laser sensor is used for state estimation,and MPC is used for trajectory tracking control.The system achieves a positioning accuracy of ±0.05mm and a trajectory tracking accuracy of ±0.2mm.The highspeed welding test verifies the excellent robustness of the designed control strategy,and the error is controlled within 0.32mm at the maximum speed of 240mm/s.

关 键 词：机器人焊接 精确定位 模型预测控制 

分 类 号：TG441[金属学及工艺—焊接]