Motion Analysis And Self-guiding Control Of Initial Welding Position For Wheel-tracked Robot

Mobile welding robot has been widely used in industrial manufacturing. This paper analyses the motion of a kind of wheel-tracked mobile robot, and combine with visual servo control scheme, investigates robotic initial welding position guiding strategies with long distance.Firstly, an FEM (Finite Element Method) numerical model of single magnetic unit is set up, then magnetic field distributions under different working conditions are solved by ANSYS software. To verify the influence of magnetic field on ouput torque of the driving motor, a series of tests and force analysis of robotic planar motion are carried out and a relevant results are gotten, which provid the basis for motor selction.To realize the wholly robot welding automation of robot welding with the improvement of welding seam tracking technology, initial welding position guiding system becomes more necessary. An experimental platform of visual servo control system is built, it include an all-prosition climbing robot developed by ourselves, a P/T (Pan & Tilt), a CCD camera, an image-capture card, D/A card and an industrial computer. Then a complete research of welding position recognition, positioning and tracking is finished which begin at tarket setting, information capture, image processing, kinematics analysis and end at path planning.Two set of path planning programs are provided, not only for automatic control, but also manual adjustment. Based on the experimental platform, the guiding task of initial welding position with flags is performed and the obtained results show that the proposed algorithms are feasible in true situation.