基于模型的机器人管道自动焊接系统

MODEL BASED CONTROL SYSTEM FOR AUTOMATIC WELDING OF NOZZLES

论述了一种以焊缝几何模型和焊接过程模型为基础的管道机器人自动焊接系统，通过对管道定位机构（工件定位器）和焊接机器人的运动协调控制，使得在整个焊接过程中，焊缝相对于重力始终保持于最佳方向，同时焊枪相对于焊缝也保持在最佳方位上。文章首先介绍了系统的总体概念，接着详细讨论了工件定位器和焊接机器人的运动控制算法，最后通过实验和仿真验证了系统的可行性。

This paper presents an automatic control system of welding the root pass in a seam joining a nozzle perpendicular onto a large diameter pipe.The system is based on the use of a geometry model of the welding seam and on inverse welding process model(i.e. models that map desired weld quality,joint shape,and equipment parameters onto appropriate welding control variables ).Using these models, a workpiece manipulator is controlled in such a way that an appropriate welding position (determined from the inverse process models) is obtained while welding. A robot carrying the welding torch is then positioned, so the position and orientation of the torch relatively to the seam become as specified in the inverse welding process models.The paper presents the overall concept of the system. Furthermore, algorithms for controlling the workpiece manipulator and the robot are presented together with results of some of the experiments made in order to evaluate and demonstrate the system concept.