基于改进T-S模糊模型的弧焊机器人轨迹实时跟踪  

Real Time Trajectory Tracking Method for Arc Welding Robots Based on Improved T-S Fuzzy Model

作　　者：姚江云 王宽田[2] 李旺昆 梁世华 YAO Jiangyun;WANG Kuantian;LI Wangkun;LIANG Shihua(College of Information Science and Engineering,Liuzhou Institute of Technology,Liuzhou 545616,China;College of Ocean Engineering,Guilin University of Electronic Technology,Beihai 536000,China;不详)

机构地区：[1]柳州工学院信息科学与工程学院,柳州545616 [2]桂林电子科技大学海洋工程学院,北海536000 [3]桂林理工大学计算机科学与工程学院,桂林541004

出　　处：《组合机床与自动化加工技术》2024年第9期147-152,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(41562018);2020年度广西高校中青年教师科研基础能力提升项目(2020KY60012);2021年度广西高校中青年教师科研基础能力提升项目(2021KY1712)。

摘　　要：针对弧焊机器人在实际作业中受到诸多不确定因素的影响,导致弧焊机器人焊接轨迹偏离预期轨迹的问题,提出一种基于改进T-S(Takagi-Sugeno)模糊模型的弧焊机器人轨迹实时跟踪方法。采用图像识别技术识别并定位焊缝,通过坐标转换,确定焊缝中心线在机器人坐标系中的位置坐标。利用蚁群算法根据焊缝中心线在机器人坐标系中的坐标,搜索从起始位置到目标位置的最优焊接路径。设计了一种改进区间二型T-S模糊模型,通过视觉传感器实时获取新的焊缝信息,计算轨迹误差,以此为输入,利用改进T-S模糊模型对机器人的运动轨迹进行实时调整。实验结果表明,采用改进T-S模糊模型后,机器人轨迹跟踪离散度均降至1 mm以下,弧焊机器人轨迹与预期轨迹高度重合,比传统方法跟踪离散度大大降低。A real-time trajectory tracking method for arc welding robots based on an improved T-S(Takagi Sugeno)fuzzy model was proposed to address the problem of arc welding robots being affected by many uncertain factors in actual operations,which leads to welding trajectory deviation from the expected trajectory.Identify and locate the weld seam,and determine the position coordinates of the weld seam centerline in the robot coordinate system through coordinate transformation.The ant colony algorithm searches for the optimal welding path from the starting position to the target position by simulating the foraging behavior of ants based on the coordinates of the weld centerline in the robot coordinate system.Finally,an improved interval type-2 T-S fuzzy model was designed,Real time acquisition of new weld seam information through visual sensors,calculation of trajectory error,and use of improved T-S fuzzy model as input to adjust the robot′s motion trajectory in real time.The results show that after using the improved T-S fuzzy model,the trajectory tracking discreteness of the robot is reduced to below 1 mm.Under the application of the improved T-S fuzzy model,the trajectory of the arc welding robot highly coincides with the expected trajectory,greatly reducing the tracking discreteness compared to before the application of the T-S fuzzy model.

关 键 词：改进T-S模糊模型 弧焊机器人 焊缝识别与定位 轨迹规划 轨迹实时跟踪方法 

分 类 号：TH164[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]