| 移动焊接机器人及混合控制 |
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| 引用本文： | 李月华,张华,叶建雄.移动焊接机器人及混合控制[J].工业控制计算机,2007,20(7):9-10. |
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| 作者姓名： | 李月华 张华 叶建雄 |
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| 作者单位： | 南昌大学机器人与焊接自动化实验室,江西,南昌,330031 |
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| 摘 要： | 针对目前焊接系统自动化程度低、控制方式单一等特点，介绍了一种采用旋转电弧传感器的移动焊接机器人系统，给出了相关部分的原理和结构；针对该机器人，设计了含多种控制方法的混合控制器。整个系统采用模糊控制、PI控制、bang-bang控制相结合的方法，对控制策略进行了分析，通过实验论证了系统整体的性能。
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| 关 键 词： | 焊接机器人 焊缝跟踪 混合控制器 |
| 修稿时间： | 2007-02-03 |
Mobile Welding Robot and Hybrid Controller |
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| Abstract: | Aiming at the problem that the degree of automation is low and the way of control is single in welding system,a newly welding-robot system based on arc sensor is designed in this paper,the construction of system.the function of each part and the relative control method are put forward;for this robot,a controller contain several control methods such as fuzzy controI,PI-control,bang-bang control is designed.The effectiveness and reasonableness of robot are proved by test,at last,conclusions and suggestion are made for its widely use. |
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| Keywords: | welding-robot seam tracking hybrid controller |
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