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。
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.
出处
《工业控制计算机》
2007年第7期9-10,共2页
Industrial Control Computer
基金
爬行式智能焊接机器人的研究(国家自然科学基金资助项目50075037)
