Algorithm and Implementation of Auto-searching Weld Line for Welding Mobile Robot
ZHANG Ke1, Lü Xue-qin1, JIN Xing1, WU Yi-xiong 1,2
1. Welding Engineering Institute, Shanghai Jiaotong University, Shanghai 200030, China; 2. The State Key Laboratory of Metal Matrix Composties, Shanghai Jiaotong University, Shanghai 200030, China
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.
[1] 潘际銮.现代弧焊控制[M].北京:机械工业出版杜,2000.340-365. [2] 蒋力培,焦向东,薛龙,等.大型钢制球罐的高效自动焊关键技术研究[J].机械工程学报,2003,39(8):146-150. [3] Kam B O, Jeon Y B, Kim S B. Motion control of two wheeled welding mobile robot with seam tracking sensor[A]. ISIE( IEEE International Symposium on Insdustrial Electronics) [C] , Korea: 2001.850 856. [4] Sugs Y, Muto A. Automatic tracking of welding line by autonomous mobile robot for welding of plates (Tracking of linear and angled welding lines) [J]. Transactions of the Japan Society of Mechanical Engineers, Part C, 1997, 63 (612): 29182924. [5] Suga Y, Saito K. Recognition and automatic tracking of weld line in welding of T-joint of pipes by an autonomous mobile robot with vision sensor [J]. Transactions of the Japan Society of Mechanical Engineers, Part C, 1996, 62(595): 11911196. [6] Wang J B, Sun Z G, Chen Q. Intelligent wheeled mobile robot for spherical tank welding [A]. Mobile Robot ⅩⅥ, SPIE[C]. 2002,Vol,4573. 245-255. [7] 张华,王海东,徐健宁,等.基于旋转电弧传感的新型轮式自主移动焊接机器人系统[J].机器人,2003,25(6):536-540. [8] 陈善本,林尚扬.智能化焊接技术[M].北京:机械工业出版社,2000,215-220. [9] Kanayanma Y, Kimura Y, Miyazaki F, et al. A stable tracking control method for a nonholonomic mobile robot[A]. Proceedings of the IEEE/RSJ International Workshop on Intelligent Robot and Systems [C]. 1991. 1236-1241. [10] 蔡自兴.机器人学[M].北京:机械工业出版社,2000.265-280.