【论文】焊接机器人控制系统设计.docx

焊接机器人控制系统设计摘要基于“宏观遥控，微观自主”的总体控制策略，构建了由焊接机器人、激光焊缝跟踪系统、力觉传感系统、焊接电源系统、离线编程系统、遥操作控制人机界面、平面视觉传感系统和立体视觉传感系统组成的机器人遥控焊接系统。针对机器人遥控焊接系统控制参数多、要求精度高、实时性强等导致的控制困难，建立了机器人遥控焊接系统的多智能体模型。该模型使得系统中各个组成具有更高的智能体水平和协作能力，从而解决了系统的控制难题。针对单个智能体的开发，提出了由智能体内核、智能体功能单元组成的混合式单智能体结构。该结构不但具有反应型智能体快速反应的特点，满足了遥控焊接的实时性要求，而且具有慎思型智能体的自主推理、决策能力，满足了系统的智能水平要求。关键词：弧焊机器人，遥控焊接，多智能体系统，开放式机器人控制器I焊接机器人控制系统设计AbstractBased on the control thinking “macroscopic teleoperation, microscopicautonomous”, TRWS is constructed, which consists of welding robot, laser scanningwelding seams tracking system, force sensor system, welding machine system, off-lineprogramming system, tele-operation control human-machineinterface,2D vision systemand stereo vision system. In order to overcome the control difficulties result from thecharacteristics of TRWS, such as more parameters needed to be controlled, higherprecision and real time required, multi-agent model for TRWS is established. Themulti-agent model makes all subsystems more intelligent and coordinative, and then thecontrol difficulties are solved. For the development of agent, the agent hybridarchitecture, which consists of agent kernel and function units, is presented. One hand,this architecture meet the real time of TRWS because that it is characterized by the quickreaction of reactive agent; on the other hand, this architecture meet the high intelligencerequirement of TRWS because that it can reason and make decisions autonomously thatdeliberate agent can.Keywords: arc welding robot, tele-robotic welding, multi-agent system, openarchitecture robot controllerII焊接机器人控制系统设计目录第一章绪论......................................... 11.1 选题背景 ....................................... 11.2 研究意义 ....................................... 21.3 文献综述 ....................................... 21.3.1 焊接机器人发展趋势............................... 61.3.2 机器人控制系统 ................................. 71.3.3 机器人传感技术 ................................. 71.3.4 网络通信功能 .................................. 81.3.5 虚拟机器人技术 .