复杂焊接机器人系统的协同控制

The Cooperating Controling of Complex Welding Robotic System

利用Petri网理论对多台机器人焊接系统进行了建模,根据系统的特点设计了基于局域网络通信的软件控制系统,实现系统的全局调度;利用建立的系统模型设计了多机器人铝合金交流脉冲GTAW的悬空角焊工艺实验.实验结果表明:系统各个机器人动作协调正确,未发生动作干涉等异常情况;焊接电弧燃烧稳定,工艺设计合理,加工过程流畅.焊接实验验证了系统建模控制的正确性,拓展了Petri网理论在焊接领域的应用.

Petri net theory was adopted to model multi-robotic welding system. According to the characteristic of welding system, software was designed to control the whole system by LAN. And a special welding technic experiment of aluminium AC pulse GTAW with robots was designed, too. The result of experiment illuminates that all the actions run coordinately and there is no abnormity. Welding arc works stably, welding technic is designed well and the process of welding is fluent. The research proves the model＇s correctness and it develops the application of Petri net theory in welding area.