平面自主移动机器人空间弯曲角焊缝跟踪控制.pdfVIP

摘要 关键词：焊接机器人；旋转电弧传感器；偏差识别；控制算法；焊缝跟踪 III ABSTRACT ABSTRACT With the rapid development of shipbuilding industry, higher requirements of the welding quality are put forward. By a robot based on rotating arc sensor, the tracking on space curved fillet weld can be well realized. It is also conducive to promote the welding automation of trellis seam in the cabins. On the basis of previous work, the mechanical and hardware parts have been improved, which makes the robot more reliable in performance and more like a product. In this paper, the signal filtering of rotating arc sensor, the algorithm on deviation identification of the welding torch and control algorithm are studied. In terms of the filtering of welding current, this paper does research on median filter, mean filter, threshold processing filter, linear filtering, soft threshold wavelet filter and the fitting filter of cubic curve, and two methods of combination filter are also introduced with one based on soft threshold wavelet filter and the other the process of threshold. As for the algorithm of deviation recognition, the least square method, absolute difference method and minimum distance classifier method are researched. When it comes to the control algorithm, fuzzy control algorithm and multi-mode perceptions are included. With regard to the problem that the weld seam in the factory is long while the distance that the horizontal slider moves is short, research are done on the tracking of curved weld by the robot based on rotating arc sensor, including the tracking on weld seam via the stretch and the indent of the horizontal slider, differential movemen