基于最小二乘法的小车方位角实时辨识

Real-time identification of heading angle based on least squares estimator for welding mobile robot

应用最小二乘法对移动焊接机器人传感器矢量与焊缝之间的位置关系进行了研究,提出了焊缝跟踪过程中小车方位角的实时辨识算法。为了确切表达传感器、焊缝、焊枪三者之间的空间位置关系,首先引入了传感器矢量的概念。然后根据前置传感器的特点,提出在焊缝跟踪的小邻域内,传感器矢量和焊缝之间的位置关系可以用一次多项式或二次多项式来完全表达。在此基础上,应用最小二乘法,建立了小车方位角的实时辨识算法并给出了算法的具体实现。最后通过实际的焊缝跟踪试验,验证了该算法的有效性。该算法的应用,为移动焊接机器人实现复杂曲线焊缝的实时跟踪奠定了重要的基础。

Geometrical relationship between sensor vector and welding seam for welding mobile robot was investigated by applying least squares estimator method,then real-time identified algorithm of heading angle was proposed for welding mobile robot.Firstly,in order to accurately describe the space position relationship among welding torch,tracking sensor and welding seam deviation quantificationally,the concept of sensor vector was introduced.Then,according to the characteristics of sensor look-ahead,the position relationship between sensor vector and welding seam was fully described with once polynomial or quadratic polynomial in the little field of seam tracking.On the basis,real-time identified algorithm of heading angle was built based on the least squares estimator method.At last,the effectiveness of the proposed algorithm was verified by practical seam tracking experiment.As a result,it lays the foundation for real-time seam tracking of complex curved welding seam for welding mobile robot.