基于BRIEF分类器的焊接机器人焊头运动轨迹自动控制研究  

Research on Automatic Control of Welding Robot Welding Head Motion Trajectory Based on BRIEF Classifier

作　　者：李华[1] 李国 LI Hua;LI Guo(Sichuan Vocational College of Information Technology,Sichuan Guangyuan 628000,China;Chengdu Sino Microelectronics Technology Co.,Ltd.,ChengDu 610041,China)

机构地区：[1]四川信息职业技术学院,四川广元628000 [2]成都华微电子科技股份有限公司,成都610041

出　　处：《自动化与仪器仪表》2025年第3期167-171,176,共6页Automation & Instrumentation

基　　金：四川省自然科学项目基金(2019C45011)。

摘　　要：在复杂的焊接环境中,如工件外形复杂、焊接材料不均匀等情况下,精确的焊头运动轨迹自动控制需要考虑这些复杂因素,并能够适应不同的焊接任务需求,使得机器人焊头运动轨迹自动控制难度加大,导致焊接效果较差。为此,研究基于BRIEF分类器的焊接机器人焊头运动轨迹自动控制方法。采用方向性FAST特征点检测和旋转BRIEF描述子算法过滤优化得到焊接轨迹特征,并将其输入到BRIEF分类器中,实现特征分类。基于模糊控制器设计焊接轨迹偏差修正器,得到调整量,以动态补偿机器人焊头运动轨迹的误差,实现高精度焊接机器人焊头运动轨迹自动控制。实验结果表明,x方向上机器人焊头运动速度的最大波动量为0.06 mm/s,y方向为0.058 mm/s。焊头控制精度与平稳度均表现优越,能满足实际焊接作业要求。In complex welding environments,such as complex workpiece shapes and uneven welding materials,accurate automatic control of welding head movement trajectory needs to consider these complex factors and be able to adapt to different welding task requirements,making it more difficult for robot welding head movement trajectory automatic control,resulting in poor welding performance.To this end,research is conducted on the automatic control method of welding robot welding head motion trajectory based on BRIEF classifier.Using directional FAST feature point detection and rotating BRIEF descriptor sub algorithm to filter and optimize welding trajectory features,and inputting them into the BRIEF classifier to achieve feature classification.Design a welding trajectory deviation corrector based on a fuzzy controller,obtain the adjustment amount to dynamically compensate for the error of the robot's welding head movement trajectory,and achieve high-precision automatic control of the welding robot's welding head movement trajectory.The experimental results show that the maximum fluctuation in the motion speed of the robot welding head in the x direction is 0.06mm/s,and in the y direction is 0.058mm/s.The precision and smoothness of welding head control are superior,which can meet the requirements of actual welding operations.

关 键 词：焊接机器人 视觉传感器 模糊规则 偏差修正器 运动轨迹自动控制 

分 类 号：TG409[金属学及工艺—焊接]