基于逆向建模的复杂焊缝数学模型的建立方法
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摘要
目前在复杂焊缝的自动化焊接中焊缝数学模型建立方法均比较复杂,针对焊缝特征模型设计一种等分离散建模算法。采用辅助测量设备测量工件上设置的点,已知曲线上两点间坐标系的旋转矩阵,由Euler定理将旋转矩阵转换为指数映射形式,通过等分旋转角,建立曲线上两点间及其它离散点处的坐标系。在Matlab环境下,对管道插接焊缝进行了建模分析。仿真结果表明采用等分离散算法建立的焊缝特征模型能达到预期的效果,且方法简单、效率高。
The method of mathematical model establishment is more complicated in the automatic welding of complex welding seam at present. An algorithm for discrete aliquot is proposed in this paper for complex weld. It measures points on the work piece using independent measuring device. The rotation matrix between coordinate system for two points on the curve is known,the rotation matrix converted to exponential mapping by Euler,coordinate other point is to be established by an method of the rotation angle for the aliquot.Intersecting pipes is established and analysis in Matlab. The results show that the algorithm using discrete aliquot weld build feature model can achieve expectation effect. This method makes the operation simpler,more efficient.
The method of mathematical model establishment is more complicated in the automatic welding of complex welding seam at present. An algorithm for discrete aliquot is proposed in this paper for complex weld. It measures points on the work piece using independent measuring device. The rotation matrix between coordinate system for two points on the curve is known,the rotation matrix converted to exponential mapping by Euler,coordinate other point is to be established by an method of the rotation angle for the aliquot.Intersecting pipes is established and analysis in Matlab. The results show that the algorithm using discrete aliquot weld build feature model can achieve expectation effect. This method makes the operation simpler,more efficient.
引文
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[2]诸葛琰,卓雪艳,廖小平,等.OTC弧焊机器人离线编程系统开发[J].组合机床与自动化加工技术,2015,11,91-94.
[3]Shi H,Su H J,Dagalakis N,et al.Kinematic modeling and calibration of aflexure based hexapod nanopositioner[J].Precis Eng,2013,37(1):117-28.
[4]高文斌,王洪光,姜勇,等.基于距离误差的机器人运动学参数标定方法[J].机器人,2013,35(5):600-606.
[5]Chen X Z,Huang Y M,Chen S B.Model analysis and experimental technique on computing accuracy of seam spatial position information based on stereo vision for welding robot.Industrial Robot an International Journal,2012,39(4):349-356.
[6]Yi Y M,Liu D.Simultaneous Localization and Mapping Using Monocular Vision.Journal Of Nanoelectronics And Optoelectronics,2012,7(2):162-166.
[7]Kim M Y,Lee H,Cho H.Dense range map reconstruction from a versatile robotic sensor system with an active trinocular vision and a passive binocular vision[J].Applied Optics2008,47(11):1927-1939.
[8]任福深,陈树君,殷树言,等.管道插接焊缝位置及焊枪位姿建模[J].焊接学报,2008,29(11):33-36.
[9]Shi L,Tian X C.Automation of main pipe-rotating welding scheme for intersecting pipes[J].Int J Adv Manuf Technol,2015,77:955-964.
[10]Lu Y,Tian X C,Liang J.Track control in automated welding of saddle curve[J].J Sci Ind Res,2010,69(11):811-817.
[11]Mehrdad B S,Maryam A,Moosavian S.Ali A.Design and analysis of a welding robot[C].IEEE International Conference Automation Science and Engineering.Newyork,NY,USA:IEEE,2006:454-459.
[12]赵艳丽,肖金陵.激光加工机械手系统工件位姿自动校正的方法[J].激光技术,2015,39(2):206-208.