以旋转电弧为传感器的移动机器人角焊缝跟踪

Fillet Welding Seam Tracking Based on a Mobile Robot with Rotational Arc Sensor

研究以旋转电弧作为传感器,采用轮式移动机器人对具有直角转弯的角焊缝进行跟踪焊接的控制方法。采用分段控制的方法设计控制器对水平滑块进行控制,以实现直线段焊缝的跟踪。该控制器在大偏差时采用比例控制,在小偏差时采用参数自调整模糊控制,并利用免疫反馈规律对比例因子进行修正,实现了直线焊缝、小曲率焊缝和小折角焊缝的跟踪。分析直角转角处焊缝跟踪时机器人的运动学模型,并利用旋转电弧传感器检测到的焊枪倾角信息检测直角拐点,利用超声波传感器检测前方焊缝位置,设计控制器对车轮和水平滑块进行协调控制。最后,通过实际焊接试验证明了该方法的有效性。

The control method of tracking rectangle-corner fillets based on wheeled mobile robot with rotational arc sensor is researched. For the lined welding seam tracking, a multi-segment controller is designed which is composed of a proportion controller and a self-turning fuzzy controller to control horizontal slider. When the deviation is large the proportion controller will be use d to quickly reduce the deviation, otherwise the self-turning fuzzy controller will be used to avoid overshoot and achieve smooth tracking, and the immunity feedback method is used to modify proportion gene of fuzzy controller. A kinematics mathematical mo del of robot is built for tracking rectangle-corner fillet seams. The welding torch inclination is used to detect rectangle comer, and ultrasonic sensor is used to detect the frontage welding seam position. A fuzzy compromise controller is designed to carry out coordinated control of wheels and horizontal slider of robot. Actual welding test proves the effectiveness of the method.