摘要
针对准确跟踪90°折线角焊缝比较困难的问题,提出了一种基于旋转电弧传感器和路径规划组合的方法.通过对旋转电弧传感器采集到的焊接电流进行滤波,采用最小二乘偏差识别和模糊控制算法,控制机器人左右轮差速运动或水平滑块伸缩.直角拐弯时基于路径规划和水平滑块伸缩跟踪焊缝,未进入直角拐弯时是基于左右轮差速运动跟踪焊缝.实验结果表明,该算法能够很好地实现90°折线角焊缝的跟踪.
In light of the difficulty in accurate right-angle weld tracking, an approach of combining rotating arc sensor and path planning is put forward. Differential motion of left and right wheels of the robot or stretch of horizontal sliders are controlled by filtering the welding current captured by the rotating arc sensor and adopting least squares offset identification and fuzzy control algorithm. Weld tracking at quarter turns is based on path planning and horizontal sliders stretch, and is based on differential motion of left and right wheels before quarter turns. Experimental results show that the algorithm can track right-angle weld accurately.
出处
《机器人》
EI
CSCD
北大核心
2014年第4期419-424,共6页
Robot
基金
国家863计划资助项目(2013AA041003)
关键词
旋转电弧传感器
滤波
偏差识别
模糊控制
路径规划
焊缝跟踪
rotating arc sensor
filtering
offset identification
fuzzy control
path planning
weld tracking
