| 无导轨球罐焊接机器人的轨迹预估控制 |
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| 引用本文： | 焦向东,薛龙,蒋力培,李明利,孙振国,王军波,陈强. 无导轨球罐焊接机器人的轨迹预估控制[J]. 中国机械工程, 2003, 14(3): 187-189 |
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| 作者姓名： | 焦向东 薛龙 蒋力培 李明利 孙振国 王军波 陈强 |
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| 作者单位： | 1. 北京石油化工学院,北京市,102617
2. 清华大学机械工程系,北京市,100084 |
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| 基金项目： | 国家 8 63高技术研究发展计划资助项目(863—5 12— 9913— 0 2 5 ) |
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| 摘 要： | 研究讨论了轮式爬壁焊接机器人轨迹跟踪的控制问题。研制的无导轨球罐焊接机器人采用二级跟踪模式，对车体的变速跟踪采用了积分分离的PID控制，对焊枪的轨迹跟踪采用了基于轨迹预估控制算法的PID控制，成功实现了焊接轨迹的高精度跟踪，满足了球罐焊接工艺的需求。
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| 关 键 词： | 无导轨焊接机器人 焊缝跟踪 球罐焊接 预估控制 |
| 文章编号： | 1004-132X(2003)03-0187-03 |
Seam Tracking of a Rail-free Spherical Tank Welding Robot Based on the Trajectory Estimation Algorithm |
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| Jiao Xiangdong. Seam Tracking of a Rail-free Spherical Tank Welding Robot Based on the Trajectory Estimation Algorithm[J]. China Mechanical Engineering, 2003, 14(3): 187-189 |
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| Authors: | Jiao Xiangdong |
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| Abstract: | The most severe problem of the mobile wheel type welding robot is how to avoid the snake like trajectory.Two step-tracking modes and their algorithms of this robot have been discussed in this paper. The tracking of the mobile robot was controlled by an improved PID controller.A rapid welding torch tracking system was controlled by another PID controller which is based on trajectory estimation algorithm. The satisfied tracking results and welding quality was achieved. |
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| Keywords: | rail-free welding robot seam trackingspherical tank welding estimation control |
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