基于模糊自适应PID焊缝轨迹跟踪的机器人焊接前瞻控制方法

摘要

The study aimed at welding robot control.In consideration of the problem that traditional industrial welding robots usually work according to the teaching points of established tracks,and can not adapt to the flexible and intelligent welding lines for small batch and more variety production,the industrial camera and image processing technology were combined with an intelligent robot,and the welding seam trajectories were extracted and sent to the robot.In order to improve the robot's trajectory tracking accuracy in its welding process,a method for foresighted control of welding robots based on fuzz adaptive PID welding seam tracking was proposed.In the process of welding large thin structure parts,the visual inspection and recognition were used in the welding seam tracking to improve the welding operation accuracy of the welding robot.The experimental results show that the method has a good self adaptation and control precision,and can realize the foresighted deviation-compensation control.%研究了机器人焊接的控制.针对当前传统焊接工业机器人通常仅按照示教点进行既定轨迹运动,不能适应小批量多品种的柔性与智能生产线的问题,将工业相机、图像处理技术与智能机器人相结合,提取出焊缝轨迹发送给机器人,同时为提高机器人焊接过程中的轨迹跟踪精度问题,提出了一种基于模糊自适应PID焊缝轨迹跟踪的前瞻控制方法.在工程大型薄壁结构件的焊接过程中,该方法将视觉检测与识别用于焊缝轨迹跟踪,以提高焊接机器人的作业精度.最后通过实验,验证了该方法具有良好的自适应性和控制精度,能够实现前瞻偏差补偿控制.