基于模糊控制的焊接机器人焊枪姿态规划.pdfVIP

2010 7 July 2010 36 7 Journal of Beijing Univers ity of Aeronautics and Astronautics Vo.l 36 No7 汪 苏 苗新刚 李晓辉 ( , 1001 1) : 针对骑座式相贯线焊接机器人焊枪姿态的规划问题, 提出 一种基于模糊 控制的算法. 以焊缝倾角焊缝转角坡口大小被贯筒体厚度和相贯筒体厚度为输入变量, 以 焊接行走角和工作角为输出变量, 建立多输入多输出系统模糊控制器; 推导出各输入变量的隶 属度函数; 采用经验归纳法设计模糊控制规则, 建立 相应的控制规则表; 最后规划出焊枪的 工作角和行走角. 对不同的相贯筒体直径进行 仿真, 结果表明, 采用加权模糊专家系统对骑 座式相贯线焊接机器人焊枪的工作角和行走角进行规划, 可以有效的完成焊接过程焊枪的姿 态控制. : 相贯线; 模糊控制; 焊接机器人; 姿态规划 : TP 242; TG 40 : A : 10015 65( 2010) Torch pose fitting for in tersection line w elding robot based on fuzzy con trol W ang Su M iao X ingang L iX iaohu i ( Schoo l ofM echanicalEng ineering andAutom ation, Beij ing University ofA eronautics and A stronautics, Beijing 1001 1, China) Abstract: Torch pose is very mi portant in w eld ing intersection line w h ich is a k ind of complex space curve and needs all position w elding. The fuzzy control arithmetic for torch pose fitting on saddleback coping intersection line weld ing robotw as designed. W eld slope, w eld rotation, size of groove, intersecting cylinder th ickness and intersected cylinder th icknessw ere input variables. W ork ing angle and w alking anglew hich are determ inant factors in torch pose w ere output variables. A multipleinput mu ltipleoutput fuzzy controllerw as built, the subjection function of input variablesw as planned, fuzzy control principle w as designed by experi ence induction, and the relevant ru le table w as bu ilt. In order to distinguish the influence on output variables w ith different input variables, m ethod ofw eightedw as employed in the fuzzy expert system. Torch work ing an gle and w alk ing angle w ere fitted. Smi u lation of d iffer