工业机器人自适应柔性焊接控制方法

Adaptive Flexible Welding Control Method for Industrial Robots

针对机器人焊接控制方法存在焊缝跟踪误差大、控制精度低的问题,本文设计了一种工业机器人自适应柔性焊接控制方法。首先,根据工业机器人焊枪位姿对应明确关节角度,采用插值算法使中间点速度连续;其次,根据粒子群算法对运动轨迹时间寻优,规划工业机器人的运动轨迹;再次,调节跟踪点采集参数,根据合适焊缝跟踪点,获得焊缝特征点的准确位置;最后,运用滑动平均法自适应控制焊接速度和焊缝宽度,完成焊接控制。实验结果表明,本文方法的控制精度高,焊缝跟踪误差小。

Aiming at the problems of large seam tracking error and low control accuracy in the control method of robot welding,this paper designs an adaptive flexible welding control method for industrial robots.Firstly,based on the corresponding joint angle of the industrial robot welding gun,an interpolation algorithm is used to make the intermediate point velocity continuous.Secondly,based on particle swarm optimization algorithm,the motion trajectory time is optimized to plan the motion trajectory of industrial robots.Once again,adjust the tracking point collection parameters to obtain the accurate position of the weld seam feature points based on the appropriate weld seam tracking points.Finally,the sliding average method is used to adaptively control the welding speed and weld width to complete the welding control.The experimental results show that the control accuracy of this method is the high,and the tracking error of the weld seam is small.