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基于移动焊接机器人动力学的焊缝轨迹跟踪控制

Seam tracking control for mobile welding robots based on dynamic model

  • 摘要: 焊缝跟踪的高精度要求使得跟踪系统动力学问题愈加突出.建立了移动焊接机器人具有非完整力学系统形式的动力学模型,并设计了基于移动焊接机器人动力学和十字滑块协调控制的滑模变结构控制器,考虑了焊接机器人的惯性、电机动力学、工件表面不平度等因素对跟踪精度的影响.理论分析和系统仿真证明了动力学模型和滑模变结构控制算法在焊缝轨迹跟踪中的正确性和有效性.为智能控制方法在移动焊接机器人中离线编程、仿真和动态控制奠定了重要基础.

     

    Abstract: As the requirement of high accuracy in seam tracking,the systems dynamics become more prominent in seam tracking process. The non-complete dynamic model for the four wheeled mobile welding robot was established. Variable structure controller with sliding mode has been designed to complete coordinately controlling of cross-slider and mobile welding robot. Several factors have been considered including the influence of the inertia,electrical machinery dynamics,surface irregularity and other factors in seam tracking process on the tracking accuracy. Through the theoretical analysis and simulation,it has been proved that the dynamic model and the variable structure controller with sliding mode are correct and valid in seam tracking. It has set up important foundation for off-line programming,simulation and dynamic control of mobile welding robot.

     

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