基于 BP 的机器人摆动焊接视觉跟踪模糊控制

FUZZY CONTROL OF ROBOTIC SWAYING WELD′S VISION TRACKING BASED ON BP NEURAL NETWORK

在建立机器人摆动焊接视觉跟踪系统的基础上，构造了用于焊接纠偏的模糊控制系统，并提出利用三层ＢＰ神经网络来模拟模糊控制量之间的映射关系，从而实现了基于ＢＰ的机器人摆动焊接神经网络模糊控制．

On the basis of constructing the vision tracking system of the robotic swaying weld, the fuzzy controller for rectifying the deviation of the swaying weld is presented in this paper. By applying the three layers of the BP neural network to emulate the mapping relations among fuzzy control prameters, the approach of the robotic swayine weld′s vision tracking based on the BP neural network is represented.