金属加工（热加工）Issue(8)：52-59,8.
双齿辊破碎机智能焊接机器人焊缝跟踪控制
Double toothed roller crusher intelligent welding robot weld seam tracking control
摘要
Abstract
During the welding process,the fluctuation of the contact force between the welding gun of the welding robot and the double toothed roller crusher will be transmitted to each joint through the robotic arm,forming a load torque disturbance,resulting in dynamic changes in the damping ratio and natural frequency of the control system,making it difficult to achieve accurate tracking control.Therefore,a welding seam tracking control method for intelligent welding robot of double toothed roller crusher is proposed.By adaptively adjusting the region of interest to capture weld seam features,a kinematic model of an intelligent welding robot is constructed,the motor angular velocity adjustment is calculated,and the position and posture of the welding gun are adjusted in real time through coordinate transformation theory.Introducing Lyapunov stability constraints,dynamically adjusting fuzzy PID parameters based on welding gun position,adaptively adjusting weld deviation compensation values,stabilizing damping ratio and natural frequency,and achieving weld seam tracking control.From the experiment,it can be seen that the proposed method is basically consistent with the actual weld trajectory,with small errors,and the anti-interference ability of the method is more advantageous.关键词
双齿辊破碎机/焊接机器人/焊缝跟踪控制/焊缝轨迹/机器人运动学/PID控制Key words
double toothed roller crusher/welding robot/weld seam tracking control/weld seam trajectory/robot kinematics/PID control引用本文复制引用
刘鹏飞,杨国华,王惠杰,王健..双齿辊破碎机智能焊接机器人焊缝跟踪控制[J].金属加工（热加工）,2026,(8):52-59,8.基金项目
安徽省科技研发计划项目(2023SYQB021). （2023SYQB021）
