UPR100弧焊机器人焊缝跟踪控制策略-机械电子工程专业论文.docxVIP

武汉科技大学硕士学 武汉科技大学硕士学 位论文 万方数据 万方数据 Abstract Welding robot is a very complex multi-input and multi-output nonlinear system with time-varying and strong coupling characteristics. In practice, the position of the torch often deviates from the theoretical position, causing the welding error, affecting the quality of welding. This paper mainly deals with the UPR100 arc welding robot trajectory tracking intelligent control. The main contents are as follows: First, the link coordinate system of UPR100 arc welding robot is established according to the D-H method, and kinematics equation is derived by homogeneous transformation matrix and using the Matlab language programming for solving the forward and inverse kinematics equations. The trajectory planning in Cartesian space is based on forward and inverse kinematics. Secondly, a kinematical simulation model is developed by Matlab/SimMechinics, and then comparing the data of theoretical data with the motion data of trajectory planning simulation, the simulation results verify the validity of the simulation model and the rationality of trajectory planning. Then, the dynamics model of the arc welding robot is established based on the Lagrange method, utilizing the powerful parametric modeling capabilities of Pro/E to establish the three-dimensional modeling of the welding robot, and the parameters like quality, centroid coordinates and moment of inertia of each link are achieved through quality analysis for each joint. The desired trajectory of each joint is known, the desired torque curve of the first three joints also are known, and the simulation results verify the correctness of the calculated kinetic parameters which providing a theory basis for the seam tracking. Finally, nonlinear, coupling, uncertainties and other factors have bad influence on the robot control system. The PD control，sliding mode control and feedforward fuzzy PD control are applied to welding robot trajectory tracking control, the simulation results o