| Dynamic modeling and simulation for nonholonomic welding mobile robot |
| |
| 作者姓名： | 张轲 吴毅雄 吕学勤 金鑫 |
| |
| 作者单位： | School of Materials Science and Engineering Shanghai Jiaotong University，School of Materials Science and Engineering Shanghai Jiaotong University，Faculty of Electric and Automatic Engineering Shanghai University of Electric Power，School of Materials Science and Engineering Shanghai Jiaotong University，Shanghai 200030 China，Shanghai 200030 China，Shanghai 200090 China，Shanghai 200030 China |
| |
| 摘 要： | Based on the Newton-Euler method, the dynamic behaviors of the left and right driving wheels and the robot body for the welding mobile robot were derived. In order to realize the combination control of body turning and slider adjustment, the dynamic behaviors of sliders were also investigated. As a result, a systematic and complete dynamic model for the welding mobile robot was constructed. In order to verify the effectiveness of the above model, a sliding mode tracking control method was proposed and simulated, the lateral error stabilizes between ?0.2 mm and 0.2 mm, and the total distance of travel for the slider is consistently within ±2 mm. The simulation results verify the effectiveness of the established dynamic model and also show that the seam tracking controller based on the dynamic model has excellent performance in terms of stability and robustness. Furthermore, the model is found to be very suitable for practical applications of the welding mobile robot.
|
| 关 键 词： | 动力模型 接缝跟踪 活动模型控制 焊接 |
| 收稿时间： | 10 March 2007 |
| 修稿时间： | 2007-03-10 |
Dynamic modeling and simulation for nonholonomic welding mobile robot |
| |
| Zhang Ke , Wu Yi-xiong , Lü Xue-qin and Jin Xin.Dynamic modeling and simulation for nonholonomic welding mobile robot[J].Journal of Central South University of Technology,2007,14(5):679-684. |
| |
| Authors: | Zhang Ke Wu Yi-xiong Lü Xue-qin and Jin Xin |
| |
| Affiliation: | 1. School of Materials Science and Engineering, Shanghai Jiaotong University, Shanghai 200030, China; 2. Faculty of Electric and Automatic Engineering, Shanghai University of Electric Power, Shanghai 200090, China |
| |
| Abstract: | Based on the Newton-Euler method, the dynamic behaviors of the left and right driving wheels and the robot body for the welding
mobile robot were derived. In order to realize the combination control of body turning and slider adjustment, the dynamic
behaviors of sliders were also investigated. As a result, a systematic and complete dynamic model for the welding mobile robot
was constructed. In order to verify the effectiveness of the above model, a sliding mode tracking control method was proposed
and simulated, the lateral error stabilizes between −0.2 mm and +0.2 mm, and the total distance of travel for the slider is
consistently within ±2 mm. The simulation results verify the effectiveness of the established dynamic model and also show
that the seam tracking controller based on the dynamic model has excellent performance in terms of stability and robustness.
Furthermore, the model is found to be very suitable for practical applications of the welding mobile robot.
Foundation item: Project(50605044) supported by the National Natural Science Foundation of China; Project(2004DFA02400) supported by the Key
International Science and Technology Cooperation Program |
| |
| Keywords: | dynamic model seam tracking sliding mode control welding mobile robot |
| 本文献已被 CNKI 维普 万方数据 SpringerLink 等数据库收录！ |
