应用多传感器激光视觉的焊接机器人变质心补偿控制

compensation control of welding robot based on multi-sensor laser vision

制造、安装、机械传动和温度变化等诸多方面的误差较大,产生补偿机器人变质心偏移度,任务执行途中失去期望位姿,为了提高焊接机器人工作效率,提出应用多传感器激光视觉的焊接机器人变质心补偿控制方法。建立焊接机器人变质心模型,应用激光传感器扫描焊接机器人实际轨迹和位姿的几何特征,获取激光视觉图像标定管道焊缝,结合PLC控制器,调整焊接机器人轨迹和位姿,消除惯性力对变质心位移的干扰,实现焊接机器人变质心补偿控制。实验结果表明,在X-Y坐标面、Z-X坐标面和Z-Y坐标面上的变质心补偿轨迹均与期望轨迹误差5 cm左右,高度重合;控制后,焊接机器人惯性位移在0.1 cm之内,近似于零,惯性力不再引导焊接机器人移动,可以稳定停靠在目标位置,变质心控制性能好。

The errors in manufacturing,installation,mechanical transmission and temperature change are relatively large,resulting in the offset of the metamorphic center of the compensation robot and the loss of the desired position and posture during the task execution.In order to improve the working efficiency of the welding robot,a compensation control method for the metamorphic center of the welding robot using multi-sensor laser vision is proposed.The welding robot metamorphic center model is established.The laser sensor is used to scan the geometric characteristics of the actual trajectory and posture of the welding robot,and the laser vision image is obtained to calibrate the pipeline weld.The PLC controller is used to adjust the trajectory and posture of the welding robot,eliminate the interference of inertial force on the displacement of the metamorphic center,and realize the compensation control of the welding robot metamorphic center.The experimental results show that the error of the compensation track of the metamorphic center on the X-Y coordinate plane,Z-X coordinate plane and Z-Y coordinate plane is about 5 cm from the expected track,and the height coincides with each other;After control,the inertia displacement of the welding robot is within 0.1 cm,which is close to zero.The inertia force no longer guides the welding robot to move,and it can stably stop at the target position.The metamorphic center control performance is good.