焊接机器人运动过程混合逻辑动态建模方法

Mixed Logical Dynamical Modeling Method of Welding Robot Motion Process

针对焊接机器人运动过程中连续和离散并存的混杂特性,采用混合逻辑动态建模框架研究焊接机器人运动过程建模问题,建立焊接机器人运动过程MLD模型,并利用该模型进行焊接实验.结果表明,该模型可以更全面地描述焊接机器人运动过程.

Aimed at the hybrid nature of welding robot motion process where continuity and discreteness coexist.Mixed logical dynamical(MLD) modeling framework was adopted to study the modeling of welding robot motion process,and the welding robot motion process MLD model was established.Welding experiment was conducted based on this model and the result shows the MLD model can give a more general description of the welding robot motion process.