面向复杂曲面焊接的机器人自适应轨迹生成与控制策略

Robot Adaptive Trajectory Generation and Control Strategy for Complex Surface Welding

文章旨在探讨面向复杂曲面焊接的机器人自适应轨迹生成与控制策略,通过分析复杂曲面焊接的特点与难点,提出自适应轨迹生成技术的原理与实现方法,并结合视觉识别技术实现焊缝的自动识别和跟踪。同时,研究并实现针对复杂曲面焊接的机器人控制策略,包括焊缝跟踪控制、焊接参数的自适应调整,以及引入智能控制算法提高机器人的自适应能力。

This paper aims to discuss the robot adaptive trajectory generation and control strategy for complex surface welding.By analyzing the characteristics and difficulties of complex surface welding,the principle and implementa‐tion method of adaptive trajectory generation technology are proposed,and the automatic recognition and tracking of welds are realized by combining visual recognition technology.At the same time,the robot control strategy for com‐plex surface welding is studied and implemented,including seam tracking control,adaptive adjustment of welding pa‐rameters,and the introduction of intelligent control algorithm to improve the robot's adaptive ability.