| Dynamic and control system analysis of two-wheeled robot for welding application |
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| 作者姓名： | 王晓宇 赵杰 蔡鹤皋 |
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| 作者单位： | RoboticsInstitute,HarbinInstituteofTechnology,Harbin,150001 |
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| 摘 要： | Aiming at the welding condition of space complex seam is uncertain and the intelligerwe of welding robot is unideal, a two-wheeled mobile robot is developed. It not only has the capacity of autonomous decision and avoiding obstacles, bat also can flexibly move and strongly adapt variable environment. The composition of the welding robot is described and the dynamic model is established. The feasible control strategy and control algorithm is pat forward. The simulation experiments of real world are conducted, the results are satisfying.
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| 关 键 词： | 轮式焊接机器人 力学计算 控制系统 计算机仿真 |
Dynamic and control system analysis of two-wheeled robot for welding application |
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| Wang Xiaoyu,Zhao Jie and Cai Hegao,Robotics Institute,Harbin Institute of Technology,Harbin,..Dynamic and control system analysis of two-wheeled robot for welding application[J].China Welding,2004,13(2):147-150. |
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| Authors: | Wang Xiaoyu Zhao Jie and Cai Hegao Robotics Institute Harbin Institute of Technology Harbin |
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| Affiliation: | Robotics Institute,Harbin Institute of Technology,Harbin,150001 |
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| Abstract: | Aiming at the welding condition of space complex seam is uncertain and the intelligence of welding robot is unideal, a two-wheeled mobile robot is developed. It not only has the capacity of autonomous decision and avoiding obstacles, but also can flexibly move and strongly adapt variable environment. The composition of the welding robot is described and the dynamic model is established. The feasible control strategy and control algorithm is put forward. The simulation experiments of real world are conducted, the results are satisfying. |
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| Keywords: | welding robot dynamic control system simulation |
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