机器人基于电弧传感器对90°折线角焊缝的跟踪
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摘要
针对准确跟踪90°折线角焊缝比较困难的问题,提出了一种基于旋转电弧传感器和路径规划组合的方法.通过对旋转电弧传感器采集到的焊接电流进行滤波,采用最小二乘偏差识别和模糊控制算法,控制机器人左右轮差速运动或水平滑块伸缩.直角拐弯时基于路径规划和水平滑块伸缩跟踪焊缝,未进入直角拐弯时是基于左右轮差速运动跟踪焊缝.实验结果表明,该算法能够很好地实现90°折线角焊缝的跟踪.
In light of the difficulty in accurate right-angle weld tracking, an approach of combining rotating arc sensor and path planning is put forward. Differential motion of left and right wheels of the robot or stretch of horizontal sliders are controlled by filtering the welding current captured by the rotating arc sensor and adopting least squares offset identification and fuzzy control algorithm. Weld tracking at quarter turns is based on path planning and horizontal sliders stretch, and is based on differential motion of left and right wheels before quarter turns. Experimental results show that the algorithm can track right-angle weld accurately.
In light of the difficulty in accurate right-angle weld tracking, an approach of combining rotating arc sensor and path planning is put forward. Differential motion of left and right wheels of the robot or stretch of horizontal sliders are controlled by filtering the welding current captured by the rotating arc sensor and adopting least squares offset identification and fuzzy control algorithm. Weld tracking at quarter turns is based on path planning and horizontal sliders stretch, and is based on differential motion of left and right wheels before quarter turns. Experimental results show that the algorithm can track right-angle weld accurately.
引文
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[2]潘际銮.现代弧焊控制[M].北京:机械工业出版社,2000.Pan J L.Modern arc welding control[M].Beijing:China Machine Press,2000.
[3]Shi Y H,Zeng S S,Wang G R.Signal pattern analysis of high speed rotational arc sensor in GMAW[C]//IEEE International Conference on Information and Automation.Piscataway,USA:IEEE,2009:1156-1160.
[4]Pan J L.Arc sensing system for automatic weld seam tracking(Ⅰ)[J].Science in China,Series B:Chemistry,2001,44(3):251-257.
[5]Pan J L.Arc sensing system for automatic weld seam tracking(Ⅱ)[J].Science in China,Series E:Technological Sciences,2001,44(4):389-397.
[6]Gonzalez R C,Woods R E.Digital image processing[M].3rd ed.Beijing:Publish House of Electronics Industry,2010.
[7]Jia J P,Zhang H,Xiong Z Y.A fuzzy tracking control system for arc welding robot based on rotating arc sensor[C]//IEEE International Conference on Information Acquisition.Piscataway,USA:IEEE,2006:967-971.