弧焊机器人焊缝跟踪神经网络控制器.docVIP

弧焊机器人焊缝跟踪神经网络控制器 高向东　黄石生　毛利彰　山本元司 　　摘要:介绍一种能提高弧焊机器人焊缝跟踪精度的神经网络控制器.通过神经网络的补偿作用，弥补了由于无法知道机器人精确模型所造成的控制上的误差.不同于机器人控制中传统的神经网络控制器，本文提出并应用了基于笛卡尔空间轨迹控制的机器人焊缝跟踪神经网络，大大简化了控制算法.计算机模拟及实验结果表明，该控制器非常适用于机器人的实际焊接，对于现有的机器人，无须改变其控制器内部结构，即可应用该技术.与常用的机器人关节力矩控制法相比，有效地提高了跟踪精度并具有较强的鲁棒性.　　关键词:弧焊机器人；焊缝跟踪；神经网络 Application of Neural Network Controller in the Seam Tracking of Arc-Welding Robot* Gao Xiangdong　and　Huang Shisheng(Department of Mechatronic Engineering, South China University of Technology.Guangzhou，510641,P.R.China)Akira Mohri　and　Motoji Yamamoto(Department of Intelligent Machinery and Systems, Faculty of Engineering, Kyushu University, Japan) 　　Abstract：A neural network(NN) controller which improves the accuracy of seam tracking of an arc-welding robot is presented in this paper. The improvement of tracking accuracy can be achieved by applying the NN controller for compensating for model uncertainties of robot manipulator. Unlike the traditional NN compensation of model uncertainties which was carried through by modifying the joint/force of the robot, the proposed NN compensation is used to modify the reference Cartesian seam trajectory, which is easily applied in practice. The required internal signal level of proposed NN for the seam modification is much smaller. Simulations and experiments have been performed on an actual arc-welding robot manipulator to test the effectiveness of NN control scheme. It has been found that NN can generate better tracking performance than the traditional computed torque(CT) control method which is based on the manipulator dynamics only. One goal of this paper is to stimulate further discussion of application of NN in the arc-welding robot control.　　Key words： arc-welding robot; seam tracking; neural network 1　Introduction 　　Robot arc-welding represents a widspread technique in the field of metal manufacture. About 40% of all industrial robots are being used for welding tasks［1］. However, the increasing trend towards mechanization can not be