张轲, 吕学勤, 金鑫, 吴毅雄. 移动焊接机器人的坡口自寻迹算法及实现[J]. 机器人, 2004, 26(6): 519-523,528.
引用本文: 张轲, 吕学勤, 金鑫, 吴毅雄. 移动焊接机器人的坡口自寻迹算法及实现[J]. 机器人, 2004, 26(6): 519-523,528.
ZHANG Ke, Lü Xue-qin, JIN Xing, WU Yi-xiong. Algorithm and Implementation of Auto-searching Weld Line for Welding Mobile Robot[J]. ROBOT, 2004, 26(6): 519-523,528.
Citation: ZHANG Ke, Lü Xue-qin, JIN Xing, WU Yi-xiong. Algorithm and Implementation of Auto-searching Weld Line for Welding Mobile Robot[J]. ROBOT, 2004, 26(6): 519-523,528.

移动焊接机器人的坡口自寻迹算法及实现

Algorithm and Implementation of Auto-searching Weld Line for Welding Mobile Robot

  • 摘要: 介绍了具有自寻迹功能的移动焊接机器人的系统组成,在分析移动机器人运动学模型的基础上,讨论了机器人坡口自寻迹的算法以及实现过程,最后重点分析了自寻迹过程中的轨迹规划.试验结果表明:研制的移动焊接机器人能成功地完成焊前的自寻迹任务,误差精度可控制在±;1.5mm左右,满足实际焊接工程需要.

     

    Abstract: Firstly, the configuration of welding mobile robot is introduced, then algorithm and implementation of auto searching weld line is presented on the basis of kinematics model of the robot, at last trajectory planning among auto searching weld line is investigated in detail. The experiment result shows that the developed welding mobile robot can successfully implement the task of auto searching weld line before welding, and the tracking error can be controlled within approximate ±1.5mm, satisfying the requirement of practical welding project.

     

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