| 狭小空间移动焊接机器人角焊缝跟踪的动力学控制 |
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| 引用本文： | 李清伟.狭小空间移动焊接机器人角焊缝跟踪的动力学控制[J].焊接学报,2014,35(12):85-88. |
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| 作者姓名： | 李清伟 |
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| 作者单位： | 徐州工程学院机电工程学院, 徐州 221008;江苏省大型工程装备检测与控制重点建设实验室, 徐州 221008 |
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| 基金项目： | 江苏省产学研联合创新基金-前瞻性研究资助项目(BY2011123);江苏省科技型企业技术创新资金资助项目(BC2011066) |
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| 摘 要： | 文中对移动焊接机器人在大型结构件中狭小空间的角焊缝跟踪控制问题进行了研究,首先,建立了焊接机器人在直角角焊缝处的运动学模型;然后,基于牛顿-欧拉方法分析了焊接机器人驱动轮、机器人移动本体及十字滑块的动力学行为,并建立了焊接机器人的整体动力学模型;最后,在对整体动力学模型合理简化的基础上,设计了焊接机器人焊缝跟踪控制的鲁棒PI控制器.应用MATLAB软件进行了仿真分析,并进行了试验研究,通过结果可以看出,该方法可实现移动焊接机器人在狭小空间内直角角焊缝的跟踪,且具有较高的跟踪精度.
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| 关 键 词： | 移动焊接机器人 角焊缝 焊缝跟踪 动力学 鲁棒PI控制器 |
| 收稿时间： | 2013/6/7 0:00:00 |
Dynamic control of mobile robot working in narrow space for weld seam tracking |
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| LI Qingwei.Dynamic control of mobile robot working in narrow space for weld seam tracking[J].Transactions of The China Welding Institution,2014,35(12):85-88. |
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| Authors: | LI Qingwei |
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| Affiliation: | College of Machinery and Electricity Engineering, Xuzhou Institute of Technology, Xuzhou 221008, China;Key Laboratory of Large-scale Engineering Equipment Detection and Control of Jiangsu Province, Xuzhou 221008, China |
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| Abstract: | In this paper, a seam tracking control method of a welding mobile robot working in narrow space was studied.A kinematic model of the robot was built for tracking right-angle fillet seams. And based on the newton-euler method, the dynamic behaviors of the driving wheel, the mobile body and the cross slider of the robot were analyzed, and then the overall dynamic model of the robot was obtained. On the basis of a reasonable simplification of the overall dynamic model, a robust PI controller was proposed. The simulation was performed on software Matlab and experiments was carried out. The results show that the proposed controller can complete the scheduled task possessing a high tracking accuracy. |
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| Keywords: | mobile welding robot fillet weld seam tracking dynamics robust PI controller |
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