高技术通讯2016，Vol.26Issue(10)：883-889,7.DOI:10.3772/j.issn.1002-0470.2016.10-11.008
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
A method for foresighted control of welding robots based on fuzzy adaptive PID welding seam tracking
摘要
Abstract
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.关键词
视觉指引/轨迹跟踪/模糊PID调节/偏差补偿/焊缝Key words
visual guidance/trajectory tracking/fuzzy-PID control/deviation compensation/welding seam引用本文复制引用
谢光,熊禾根,陶永,刘辉,高进芃,陈友东..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[J].高技术通讯,2016,26(10):883-889,7.基金项目
科技部支撑计划(2015BAF01B03)资助项目. （2015BAF01B03）
