轮式机器人折线焊缝跟踪协调控制方法

研究了以旋转电弧作为传感器,采用轮式移动机器人对折线焊缝进行跟踪的协调控制方法.设计了自适应模糊控制器对十字滑块和车轮进行协调控制,通过控制机器人移动对焊缝进行粗略跟踪,同时调整十字滑块带动焊枪对焊缝进行精确跟踪.为了使机器人的移动方向与焊缝走向一致,采用Sugeno型模糊逻辑系统作为滤波器对机器人本体的方位角偏差进行滤波处理,使机器人本体在跟踪焊缝的直线段时做直线运动,在跟踪焊缝的曲线段时做转弯运动.结果表明,该算法能够成功应用于最大为60°的折线焊缝和Z形焊缝的自动跟踪焊接.

Coordinate control of broken-line welding seam tracking for wheeled robot

A coordinate control method was proposed for wheeled welding robot with rotational arc as sensor to track brokenline welding seam.Self-turning fuzzy controllerwas designed to complete coordinately controlling of cross-slider and wheels, and exactly welding seam tracking was realized by use of the controller.To make the robot''s moving direction parallel to the welding seam direction, Sugerno fuzzy logic system was used as a filter to process the robot''s orientation errors, which makes the robot move along when tracking lined section of welding seam and turn quickly when tracking covered section of welding seam.The experimental results show that the presented method is valid to track 60°broken-line welding seam and Z shape welding seam.