钨极氩弧焊机器人控制系统的设计

本文首先论述了我们研制的一台示教再现四自由度钨极氩弧焊机器人的工作原理及技术要求，其次给出控制系统中计算机系统结构，运动学方程，轨迹规划及插补算法，简要介绍了数字伺服系统的设计，该伺服系统的特点是采用了一种专用电机控制集成电路，钨极氩弧焊机器人的关键技术是抗高频高压干扰，文章最后提出了解决这一问题的一些措施。

THE DESIGN OF CONTROL SYSTEM OF TUNGSTEN POLE ARGON ARC WELDING ROBOT

Firstly,this paper demonstrates the working principle and technical requirements of a teaching-playback Tungsten Pole Argon Arc Welding Robot with four degrees of freedom which designed by us. Sec-ondly,the structure of computer system,kinematic equations,trajectory motion plan and trajectory interpo-lation are given. It briefly introduces the design of a numerical servo system. One of the specialities of thissystem is that it uses a special motor control IC. The key technique of Tungsten Pole Argon Arc WeldingRobOt is anti-interference of high frequency and high vortage. Some methods to resolve this problem are pro-posed at the end of this paper.