基于姿态的轨道焊接机器人智能越障控制方法

为了机器人能更好地完成轨道焊接任务,减少障碍物对工作的影响,提出了基于姿态的轨道焊接机器人智能越障控制方法。分析越障时机器人姿态稳定性,判定机身质心位置,明确焊接臂角度和碰触点,估算出姿态支持点位置,同时将实时运动数据传输到受力锥模型中,计算最小偏移势能推测越障倾翻方向,得出最佳稳定锥。初始化蚁群遗传算法、设定主程序,迭代出全局越障路径;考虑到户外工作环境存在路径规划阻力,结合卡尔曼滤波的状态转移矩阵,减少误差完成智能越障控制。仿真实验表明,所提方法在恶劣路况下也能实现精准越障,且可以智能调节姿态,使机器人恢复稳定。

Intelligent Obstacle Crossing Control Method of Track Welding Robot Based on Attitude

In order to better complete the track welding task and reduce the influence of obstacles,an intelligent obstacle crossing control method of track welding robot based on attitude is proposed.The attitude stability of the robot during obstacle crossing was analyzed to determine the centroid position of the fuselage , clarify the angle of the welding arm and the contact point , estimate the position of the attitude support point , and transmit the real-time motion data to the force cone model.The minimum offset potential energy was calculated to speculate the obstacle crossing tipping direction and obtain the best stable cone.The ant colony genetic algorithm was initialized , the main program was set , and the global obstacle crossing path was iterated.Considering the path planning resistance in the outdoor working environment , combined with the state transition matrix of Kalman filter , the error is reduced and the intelligent obstacle crossing control is completed.Simulation results show that the proposed method can achieve accurate obstacle crossing under bad road conditions , and intelligently adjust the attitude to restore the stability of the robot.