一种基于视觉绕焊炬末端旋转跟踪焊缝机构的伺服控制方法

摘要

In seam tracking device there are two parts: robot and visual server device. In order to achieve the intelligence and upgrading welding robot technique, a seam tracking control model is put forward in which visual device separates from the robot. After the visual device pose is described, the relationship among the welding coordinate system, welding torch coordinate system and visual system is studied. The rotation of visual servo device is analyzed, the model is introduced that the visual servo device could rotate around the welding torch. Fuzzy math and immunology are applied to this control method. The simulation result and experimental analysis prove the quickness and stability of this method and fulfil seam tracking request.%焊缝跟踪控制包括机器人控制和视觉伺服装置控制两个部分,为了实现工业焊接机器人的智能化和升级改造,提出了一种视觉装置分离于机器人的焊缝跟踪控制方法.描述了视觉装置的位姿,分析了焊接坐标系、焊炬坐标系和视觉坐标系之间的关系；研究了视觉随动装置的转动问题,提出了视觉随动装置绕焊炬转动的模型；运用模糊免疫学思想设计了控制方法,进行了有效的仿真和实验分析,证明了该方法跟踪焊缝具有良好的快速性和稳定性,满足焊缝跟踪要求.