北京航空航天大学学报 ›› 2010, Vol. 36 ›› Issue (7): 771-775.

• 论文 • 上一篇    下一篇

基于模糊控制的焊接机器人焊枪姿态规划

汪苏, 苗新刚, 李晓辉   

  1. 北京航空航天大学 机械工程及自动化学院, 北京 100191
  • 收稿日期:2009-06-01 出版日期:2010-07-30 发布日期:2010-09-10
  • 作者简介:汪 苏(1959-),男,北京人,教授,wangsu@buaa.edu.cn.

Torch pose fitting for intersection line welding robot based on fuzzy control

Wang Su, Miao Xingang, Li Xiaohui   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2009-06-01 Online:2010-07-30 Published:2010-09-10

摘要: 针对骑座式相贯线焊接机器人焊枪姿态的规划问题,提出了一种基于模糊控制的算法.以焊缝倾角、焊缝转角、坡口大小、被贯筒体厚度和相贯筒体厚度为输入变量,以焊接行走角和工作角为输出变量,建立多输入多输出系统模糊控制器;推导出各输入变量的隶属度函数;采用经验归纳法设计模糊控制规则,建立了相应的控制规则表;最后规划出焊枪的工作角和行走角.对不同的相贯筒体直径进行了仿真,结果表明,采用加权模糊专家系统对骑座式相贯线焊接机器人焊枪的工作角和行走角进行规划,可以有效的完成焊接过程焊枪的姿态控制.

Abstract: Torch pose is very important in welding intersection line which is a kind of complex space curve and needs all position welding. The fuzzy control arithmetic for torch pose fitting on saddle-back coping intersection line welding robot was designed. Weld slope, weld rotation, size of groove, intersecting cylinder thickness and intersected cylinder thickness were input variables. Working angle and walking angle which are determinant factors in torch pose were output variables. A multiple-input multiple-output fuzzy controller was built, the subjection function of input variables was planned, fuzzy control principle was designed by experience induction, and the relevant rule table was built. In order to distinguish the influence on output variables with different input variables, method of weighted was employed in the fuzzy expert system. Torch working angle and walking angle were fitted. Simulation of different diameter cylinder was made. The result shows that the fuzzy control system can achieve torch pose fitting effectively.

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