A primary study on Processing in X - ray inspection of spot weld for aluminum alloy spot welding,in- cluding for background simulation,acquisition of ideal binary image, and extraction and identifi- cation of defec...A primary study on Processing in X - ray inspection of spot weld for aluminum alloy spot welding,in- cluding for background simulation,acquisition of ideal binary image, and extraction and identifi- cation of defect features was presented.展开更多
针对点焊机器人在C空间中的轨迹规划问题,提出一种基于蚁群算法的智能轨迹规划参数自适应蚁群算法(parameter adaptive ant colony algorithm,PAACA),以期改进蚁群算法易早熟、收敛速度慢的问题,在PAACA中构建一种复合线性适应度函数,...针对点焊机器人在C空间中的轨迹规划问题,提出一种基于蚁群算法的智能轨迹规划参数自适应蚁群算法(parameter adaptive ant colony algorithm,PAACA),以期改进蚁群算法易早熟、收敛速度慢的问题,在PAACA中构建一种复合线性适应度函数,此函数可以智能控制算法中信息素的作用强度,从而提高寻优能力。通过MATLAB进行仿真测试证明了PAACA的优越性,并将智能轨迹规划应用在工业机器人实体中,用KEBA控制器进行3D建模仿真示教和机器人本体运行,验证了C空间中的智能轨迹规划PAACA具有很强的实际应用价值。展开更多
Current industrial robotic welding systems can- not achieve automated solutions for multi-layer multi-pass welding of complex joints due to the presence of non- uniform and irregular welding groove geometries. This pa...Current industrial robotic welding systems can- not achieve automated solutions for multi-layer multi-pass welding of complex joints due to the presence of non- uniform and irregular welding groove geometries. This paper presents an adaptive pass planning approach for robotic welding of such complex joints. The welding groove is first segmented considering both the variation in groove dimension and the reachability of the robot welding torch. For each welding segment, the welding passes are planned to be in accordance with welding practices, viz., keeping the same number of welding passes in each layer while maintaining consistent welding parameters. An adaptive pass adjustment scheme is developed to address the discrepancies between the simulated results and the actual welding deposition after finishing a few layers of welding. Corresponding robot paths are generated and optimized to ensure minimum joint movement subject to three constraints, viz., reachability, collision-free and singularity avoidance. The proposed approach has been sim- ulated with the arc welding of a Y-type joint found typically in offshore structures.展开更多
文摘A primary study on Processing in X - ray inspection of spot weld for aluminum alloy spot welding,in- cluding for background simulation,acquisition of ideal binary image, and extraction and identifi- cation of defect features was presented.
文摘针对点焊机器人在C空间中的轨迹规划问题,提出一种基于蚁群算法的智能轨迹规划参数自适应蚁群算法(parameter adaptive ant colony algorithm,PAACA),以期改进蚁群算法易早熟、收敛速度慢的问题,在PAACA中构建一种复合线性适应度函数,此函数可以智能控制算法中信息素的作用强度,从而提高寻优能力。通过MATLAB进行仿真测试证明了PAACA的优越性,并将智能轨迹规划应用在工业机器人实体中,用KEBA控制器进行3D建模仿真示教和机器人本体运行,验证了C空间中的智能轨迹规划PAACA具有很强的实际应用价值。
文摘Current industrial robotic welding systems can- not achieve automated solutions for multi-layer multi-pass welding of complex joints due to the presence of non- uniform and irregular welding groove geometries. This paper presents an adaptive pass planning approach for robotic welding of such complex joints. The welding groove is first segmented considering both the variation in groove dimension and the reachability of the robot welding torch. For each welding segment, the welding passes are planned to be in accordance with welding practices, viz., keeping the same number of welding passes in each layer while maintaining consistent welding parameters. An adaptive pass adjustment scheme is developed to address the discrepancies between the simulated results and the actual welding deposition after finishing a few layers of welding. Corresponding robot paths are generated and optimized to ensure minimum joint movement subject to three constraints, viz., reachability, collision-free and singularity avoidance. The proposed approach has been sim- ulated with the arc welding of a Y-type joint found typically in offshore structures.
