基于动态焊缝切线法的大曲率弯曲焊缝跟踪
Large curvature curved seam tracking based on dynamic tangent of weld
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摘要: 针对轮式移动焊接机器人在造船、大型球罐焊接等工业生产中的大曲率弯曲焊缝跟踪问题,在采用小波实时降噪的基础上,结合焊缝切线法的思路和滑模变结构控制方法提出了动态焊缝切线法,并且通过Matlab仿真分析和试验验证,证明了该方法能够以固定步长实时修正焊接小车驱动轮的速度,保证焊炬沿大曲率弯曲焊缝轨迹跟踪效果较好的前提下切线速度大小基本不变,提高了焊缝质量,实现了弯曲焊缝的实时自动跟踪. 为轮式移动焊接机器人在复杂轨迹的焊缝自动跟踪应用方面提供了一种新的理论思路.Abstract: Aiming at curved seam tracking with large curvature that wheeled welding mobile robot encountered in shipbuilding and large spherical tank welding, a method of dynamic tangent to weld seam is proposed on the basis of real-time wavelet denoising method and weld seam tangent, with combination of sliding-mode variable control. The mathematic model based on the method is established, the simulation performed at MATLAB and welding experiment were carried out to verify this model. The experiment and simulation results indicate that this method can perform real-time speed correction for welding vehicle with fixed step, keeping the welding torch moving with constant tangential velocity along seam trajectory, and thus it guarantees the welding quality and achieves real-time automatic curved seam tracking. It provides a new theoretical thought for the application of wheeled welding mobile robot in automatic seam tracking with complicated trajectory.
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