V Seam Tracking Based On A Mobile Welding Robot With Double Line Laser Vision Sensing

With the development of welding technology in the field of industry,people began to more and more high to the requirements of welding quality,and welding quality is affected by the interference of many factors,such as high temperature,splash,dust,man-made or mechanical error,heat distortion,making the welding automation become an inevitable trend.For some cases such as aerospace,narrow space cabin,artificial difficult to achieve or harsh working environment,the mobile welding robot with double line laser vision sensing for seam tracking,to ensure the quality of welding requirements.The robot is a new type compact,differential mode of all-wheel steering mobile welding robot.Analyzed the robot zero sideslip conditions,to established the error model of the robot,the kinematic simulation was carried out by MATLAB software,the results show that the established zero sideslip kinematics model is correct.For analysis the influence of the kinematic characteristics of the robot on the controller of the robot,the virtual prototype of the robot is designed and the PID controller of the robot is designed.The virtual prototype of the robot is simulated by MATLAB and ADAMS software,simulation results show that the maximum error of trajectory tracking is-0.0761 mm,the maximum error of circular trajectory tracking is-0.0732 mm,the simulation error is less than ± 0.5mm,the overall error stability well.According to the above control simulation results and combined with the actual robot,the robot weld tracking controller is designed,mainly is PID control and fuzzy control.The system adopted in the PID control strategy,carries on the simulation control experiment,obtains the basic satisfaction control effect.In order to improve the control precision and improve the response speed of the system,the control of the cross slide part where the welding torch is located is designed to be fuzzy control,and the simulation control experiment is carried out,Control,the results show that the maximum trajectory tracking trajectory-0.0440 m,the accuracy has improved,and the system stability is improved.Finally,the hardware platform of the welding system is designed,and the VC ++ 6.0 development environment,compiled the seam tracking software.The oblique tracking experiment is carried out by fuzzy PID control strategy,the tracking error of weld is less than 0.5mm,the experimental results show that the control method is effective and accurate and reliable tracking.