中南大学学报（自然科学版）2011，Vol.42Issue(4)：1050-1055,6.
基于视觉传感器的移动焊接机器人测控系统
A measurement and control system of welding mobile robot based on vision sensor
摘要
Abstract
A prototype of mobile welding robot with welding torch positioned at one side of welding robot was developed,and a virtual instrument based measurement and control system for mobile welding robot was presented. By analyzing the characteristics of mobile welding robot, the hardware framework including PC, NI-PCI7344, NI-DAQ6015 and image capture card was designed. The software framework of measurement and control system was put forward based on LabVIEW. Adaptive fuzzy controller and fuzzy-gaussian neural network controller were designed to complete coordinately controlling of cross-slider and wheels, and exactly welding seam tracking was realized by use of the controller. The fuzzy-neural control algorithm was described by applying a Gaussia function as an activation function. A BP rule was used so that membership function would be tuned in real time by applying the FGNN controller. The results show that the measurement and control system is effective, and the proposed controller has excellent tracing accuracy (within -0.4-0.4 mm), and can satisfy the requirement of practical welding project.关键词
移动焊接机器人/焊缝跟踪/高斯基模糊神经网络/模糊控制Key words
mobile welding robot/ seam tracking/ fuzzy-Gaussian neural network/ fuzzy control分类
信息技术与安全科学引用本文复制引用
李慨,张庭..基于视觉传感器的移动焊接机器人测控系统[J].中南大学学报（自然科学版）,2011,42(4):1050-1055,6.基金项目
河北省教育厅科学研究计划项目(2007309) （2007309）
国家高技术研究发展计划("863"计划)项目(2007AA04Z209) （"863"计划）
国家反恐科技专项基金资助项(2005FK230002) （2005FK230002）
