移动焊接机器人焊缝跟踪控制研究及仿真

为了解决轮式移动焊接机器人的焊缝跟踪问题,文中从移动焊接机器人的运动学和动力学模型出发,采用分段运动学到动力学的方法设计焊缝跟踪控制器。控制算法结合积分Backstepping算法和单层神经元网络控制算法,利用单层神经元网络的自学习和自适应能力克服机器人模型参数部分未知和扰动的影响,使跟踪更加快速、平滑。经MATLAB仿真验证了该控制算法的有效性。

Seam Tracking Control of Welding Mobile Robot Based-on Dynamics Model

To solve the seam tracking problem of the welding mobile robot,a new controller based on the dynamics and kinemics models of the welding mobile robot was designed that is stepped dynamics and kinemics.To make the tracking more quickly and smoothly,it combined the integral backstepping algorithm with the control algorithm of the nerve network as its control algorithm and utilized the self-learning and self-adaptive ability of neural network to deal with the partial uncertainty and the disturbances of the par...