轮式移动焊接机器人弯曲焊缝跟踪控制

分析了轮式移动焊接机器人弯曲焊缝轨迹跟踪问题，建立了机器人的数学模型，采用基于积分backstepping时变状态反馈方法设计了控制器，利用Laypunov方法证明系统是镇定的。针对旋转电弧传感器仅能检测单方向偏差的情况，根据焊枪前端上一时刻和当前时刻的位置对跟踪轨迹的方位角进行估计。控制器在对机器人速度和角速度控制的同时，还对十字滑块进行了控制，使跟踪更加快速、平滑。最后通过数值仿真和机器人实际运动仿真证明了该方法的有效性。

Curved Seam Tracking Control of a Wheeled Welding Mobile Robot

A mathematical model is built for the curved seam tracking problem of wheeled welding mobile robot used in shipbuilding and large spherical tank welding.A novel controller is designed which is based on the integral backstepping time-varying state feedback method and the system stability is proved with Laypunov method.In consideration of the fact that the rotating arc sensor can only measure the single orientation errors,the azimuth of the tracking trajectory is estimated based on the previous and current locations of the welding torch's front point.Not only the moving and rotating velocity of the robot is controlled,but also the moving velocity of the cross-slider is controlled,making the tracking more quickly and smoothly.In the end,the validity of the method is proved through numerical and practical movement simulations of the robot.