焊接机器人曲线焊缝的自动跟踪控制-计算机工程与应用.PDF

222 2015 ，51（5 ） Computer Engineering and Applications 计算机工程与应用 ⦾工程与应用⦾ 焊接机器人曲线焊缝的自动跟踪控制 1 1 1 2 1 闫文才 ，白瑞林 ，刘子腾 ，李 新 ，郭新年 1 1 1 2 1 YAN Wencai , BAI Ruilin , LIU Ziteng , LI Xin , GUO Xinnian 1.江南大学 轻工过程先进控制教育部重点实验室，信息与控制实验教学中心，江苏 无锡 214122 2.无锡信捷电气有限公司，江苏 无锡 214072 1.Key Laboratory of Advanced Process Control for Light Industry （Ministry of Education ）, Information and Control Experi- ment Teaching Center, Jiangnan University, Wuxi, Jiangsu 214122, China 2.Xinje Electronic Co., Ltd., Wuxi, Jiangsu 214072, China YAN Wencai, BAI Ruilin, LIU Ziteng, et al. Automatically curve seam tracking control for welding robot. Computer Engineering and Applications, 2015, 51 （5 ）：222-227. Abstract ：In order to realize the curve weld seams automatic tracking with welding robot, a simple real-time posture ad- justment strategy and coordinate visual tracking and visual servoing control of the welding torch movement method is pro - posed in this paper. The mathematical model of expected position in the process of robot motion is established. Also, a fuzzy visual servo controller based on the up-down structure is designed. Through the establishment of the relational model which depends on coordinates deviation of weld feature points pixel and end shaft rotation angle, to determine the size of fuzzy domain of discourse dynamically. While only by adjusting the amount of end shaft rotation, it ensures that the image feature point always exists in the camera view on the basis of the robot with ideal position. Simulation results of curve weld automatic tracking verify the effectiveness of the proposed method. Key words ：welding robot; posture adjustment; tracking curve weld seams; visual servoing control 摘 要：为实现焊接机器人对曲线焊缝的自动跟踪，提出一种简便的位姿实时调整策略和协调视觉跟踪与机器人运 动的视觉伺服控制方法。建立了曲线焊缝视觉跟踪过程中焊接机器人期望位姿的数学模型；设计了一种上下层结 构的模糊视觉伺服控制器，通过建立焊缝