管道焊接机器人焊枪姿态智能控制系统

Intelligent Control System of Welding Torch’s Gesture of Pipeline Welding Robot

该文提出了一种基于专家系统的焊枪姿态智能控制系统,用以解决管道焊接机器人焊枪姿态控制问题。系统中采用ADXRS300微机械陀螺作为焊枪位置传感器,获取焊枪的空间位置后,通过专家系统的经验推理,得到合适的俯仰角,并采用DSP作为控制器驱动焊枪俯仰角步进电机动作,实现对焊枪俯仰角的实时调节。实验结果证明,利用专家系统对焊枪姿态进行智能控制是可行的,可以提高焊接质量。该系统具有广泛的应用前景。

In this paper, an intelligent control system of the torch's gesture based on expert system is presented to solve the problem of controling the wel ding torch's gesture of pipeline welding robot. ADXRS300 micro-mechanical gyro i s used as the welding torch position sensor in this system. After the welding to rch position is obtained, appropriate pitch angle can be obtained through the experiential inference of the expert system. DSP is used as the controller t o drive the welding torch pitch angle step motor in order to real-time adjust th e pitch angle of the welding torch. The result of test shows that it is viable t o control the torch's gesture using the expert system and the quality of seal is increased. This intelligent control system has broad application foreground.