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Seam tracking control for mobile welding robot based on vision sensor 被引量:3
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作者 张庭 李慨 杨静 《Journal of Central South University》 SCIE EI CAS 2010年第6期1320-1326,共7页
To solve the seam tracking problem of mobile welding robot,a new controller based on the dynamics of mobile welding robot was designed using the method of backstepping kinematics into dynamics.A self-turning fuzzy con... To solve the seam tracking problem of mobile welding robot,a new controller based on the dynamics of mobile welding robot was designed using the method of backstepping kinematics into dynamics.A self-turning fuzzy controller and a fuzzy-Gaussian neural network(FGNN) controller were designed to complete coordinately controlling of cross-slider and wheels.The fuzzy-neural control algorithm was described by applying the Gaussian function and back propagation(BP) learning rule was used to tune the membership function in real time by applying the FGNN controller.To make the tracking more quickly and smoothly,the neural network controller based on dynamic model was designed,which utilized self-learning and self-adaptive ability of the neural network to deal with the partial uncertainty and the disturbances of the parameters of the robot dynamic model and real-time compensate the dynamics coupling.The results show that the selected control input torques make the system globally and asymptotically stable based on the Lyapunov function selected out;the accuracy of the proposed controller tracing is within ±0.4 mm and can satisfy the requirements of practical welding project. 展开更多
关键词 mobile welding robot seam tracking fuzzy-Gaussian neural network dynamic model Lyapunov function
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Optimal Posture Searching Algorithm on Mobile Welding Robot 被引量:2
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作者 张涛 陈善本 《Journal of Shanghai Jiaotong university(Science)》 EI 2014年第1期84-87,共4页
An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torc... An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torch inclination angle consists of the working and moving angles. According to the kinematics model,both the two angles and torch position can be calculated. Under special moving angle, a two-step algorithm is used to obtain the optimal manipulator posture. The calculation result shows that the algorithm has high precision. 展开更多
关键词 mobile welding robot kinematics model posture searching algorithm
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ALGORITHM AND IMPLEMENTATION OF AUTO-SEARCHING WELD LINE FOR WELDING MOBILE ROBOT 被引量:4
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作者 ZHANG Ke Lü Xueqin  WU Yixiong L0U Songnian 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2006年第2期176-180,共5页
An algorithm of auto-searching weld line for welding mobile robot is presented. Auto-searching weld line is that the robot can automatically recognize a weld groove according to the characteristics of the weld groove ... An algorithm of auto-searching weld line for welding mobile robot is presented. Auto-searching weld line is that the robot can automatically recognize a weld groove according to the characteristics of the weld groove before welding, and then adjust itself posture to the desired status preparing for welding, namely, it is a process that the robot autonomously aligns itself to the center of welding seam. Firstly, the configuration of welding mobile robot with the function of auto-searching weld line is introduced, then the algorithm and implementation of auto-searching weld line are presented on the basis of kinematics model of the robot, at last trajectory planning among auto-searching weld line is investigated in detail. The experiment result shows that the developed welding mobile robot can successfully implement the task of auto-searching weld line before welding, tracking error precision can be controlled to approximate ±1.5 mm, and satisfy the requirement of practical welding project. 展开更多
关键词 welding mobile robot Auto-searching weld line Trajectory planning
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Dynamic modeling and simulation for nonholonomic welding mobile robot 被引量:3
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作者 张轲 吴毅雄 +1 位作者 吕学勤 金鑫 《Journal of Central South University of Technology》 EI 2007年第5期679-684,共6页
Based on the Newton-Euler method, the dynamic behaviors of the left and right driving wheels and the robot body for the welding mobile robot were derived. In order to realize the combination control of body turning an... Based on the Newton-Euler method, the dynamic behaviors of the left and right driving wheels and the robot body for the welding mobile robot were derived. In order to realize the combination control of body turning and slider adjustment, the dynamic behaviors of sliders were also investigated. As a result, a systematic and complete dynamic model for the welding mobile robot was constructed. In order to verify the effectiveness of the above model, a sliding mode tracking control method was proposed and simulated, the lateral error stabilizes between -0.2 mm and +0.2 mm, and the total distance of travel for the slider is consistently within 4-2 ram. The simulation results verify the effectiveness of the established dynamic model and also show that the seam tracking controller based on the dynamic model has excellent performance in terms of stability and robustness. Furthermore, the model is found to be very suitable for practical applications of the welding mobile robot. 展开更多
关键词 dynamic model seam tracking sliding mode control welding mobile robot
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Study on intelligent welding mobile robot with the function of auto-searching weld line
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作者 张轲 吕学勤 +1 位作者 孙广 吴毅雄 《China Welding》 EI CAS 2006年第1期67-73,共7页
The development of welding robots suitable for specially unstructured working enviroments has been become an important development direction of industrial robot application because large-scale welding structures have ... The development of welding robots suitable for specially unstructured working enviroments has been become an important development direction of industrial robot application because large-scale welding structures have been used more and more widely in modern industry. In this paper, an intelligent mobile robot for welding of ship deck with the function of autosearching weld line was presented. A wheeled motion mechanism and a cross adjustment slider are used for the welding robot body. A sensing system based on laser-PSD (position sensitive detector) displacement sensor was developed to obtain two dimensional deviation signals during seam tracking. A full-digital control system based on DSP and CPLD has also been realized to implement complex and high-performance control algorithms. Furthermore, the system has still the function of auto-searching weld line according to the characteristics information of weld groove and adjusting posture itself to the desired status preparing for welding. The experiment of auto-searching welding line shows that the robot has high tracing accuracy, and can satisfy the requirement of practical welding project. 展开更多
关键词 welding mobile robot auto-searching weld line seam tracking ship deck DSP
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