电焊机2025，Vol.55Issue(5)：12-19,29,9.DOI:10.7512/j.issn.1001-2303.2025.05.02
移动轮式焊接机器人柔性联动控制算法研究
Mobile Wheeled Welding Robots Research Based on Flexible Coordinated Control Algorithm
余燕 1赵永江 2张淳 2袁飞 1冯消冰2
作者信息
- 1. 江南造船(集团)有限责任公司 江南研究院,上海 202150
- 2. 北京博清科技有限公司,北京 102600
- 折叠
摘要
Abstract
To address the insufficient motion coordination caused by independent control of the mobile chassis and manipu-lator in wheeled welding robots,this study proposes a flexible coordinated control algorithm based on Quadratic Program-ming(QP).The algorithm optimizes the collaborative control of the kinematic chain to enhance welding trajectory tracking accuracy and dynamic stability.A mobile welding robot platform is developed,integrating an Omron LD-60 differential drive chassis with a 7-DoF Franka-Emika manipulator.By constructing a unified Jacobian matrix incorporating a differential kinematic model,a coordinated control framework is established,linking the virtual joints of the chassis to the manipulator's joints.The algorithm formulates the motion coordination problem as a constrained QP optimization model,minimizing a weighted objective function of joint velocities and slack errors to synchronize chassis pose adjustments and manipulator mo-tion,thereby suppressing abrupt trajectory changes and mechanical vibrations.Simulation results demonstrate that the pro-posed algorithm achieves smoother welding torch trajectories and improved motion coordination compared to independent control strategies.Comparative analysis of QP solvers reveals superior computational efficiency for ProxQP and quadprog.Experimental validations,including straight-line,vertical,and complex corner welds,confirm the algorithm's capability to coordinate omnidirectional chassis movement with multi-DoF manipulator motion,enhancing trajectory continuity and re-ducing material waste through intermittent welding strategies.This research provides an adaptive solution for complex spa-tial welding tasks,extending the application potential of mobile welding robots in shipbuilding and large-scale steel structure fabrication.关键词
移动焊接机器人/柔性联动/二次规划/智能化焊接Key words
mobile welding robot/flexible coordination/quadratic programming/intelligent welding分类
金属材料引用本文复制引用
余燕,赵永江,张淳,袁飞,冯消冰..移动轮式焊接机器人柔性联动控制算法研究[J].电焊机,2025,55(5):12-19,29,9.
