機(jī)器人焊縫跟蹤神經(jīng)網(wǎng)絡(luò)控制的研究
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摘要 研究神經(jīng)網(wǎng)絡(luò)技術(shù)在弧焊機(jī)器人焊縫跟蹤過程中的應(yīng)用，通過神經(jīng)網(wǎng)絡(luò)在笛卡爾空間軌跡的補(bǔ)償作用，確定出基于笛卡爾空間參考軌跡控制的機(jī)器人焊縫跟蹤神經(jīng)網(wǎng)絡(luò)控制器。與傳統(tǒng)的關(guān)節(jié)計(jì)算力矩法相比，所設(shè)計(jì)的神經(jīng)網(wǎng)絡(luò)控制器具有良好的控制特性及較強(qiáng)的魯棒性，焊縫跟蹤精度得到了顯著的提高。
關(guān)鍵詞：神經(jīng)網(wǎng)絡(luò) 機(jī)器人 焊縫跟蹤
STUDY ON THE NEURAL NETWORK
CONTROL FOR SEAM TRACKING
OF ARC-WELDING ROBOT
Gao Xiangdong Huang Shisheng Yu Yinglin
（South China University of Technology）
Abstract The application of neural network technique in the seam tracking process of arc-welding robot is studied. A neural network controller to modify the reference Cartesian trajectory for the robotic seam tracking is presented through the compensation of the neural network for the Cartesian trajectory. Compared with the traditional computed torque control method, the proposed neural network controller yields salient controlling characteristics and strong robustness. The precision of seam tracking is conspicuously promoted.
Key words：Neural network Robot Seam tracking
0 前言
　　精確的焊縫跟蹤是保證焊接質(zhì)量的關(guān)鍵，也是實(shí)現(xiàn)焊接過程自動(dòng)化的重要研究課題。目前，絕大多數(shù)弧焊機(jī)器人位置控制器中，由于缺少模型參數(shù)知識(shí)及模型復(fù)雜難以實(shí)時(shí)計(jì)算等原因，都忽略了關(guān)節(jié)之間的耦合，把非線性系統(tǒng)近似為線性系統(tǒng)，對(duì)每一個(gè)關(guān)節(jié)使用簡單的獨(dú)立PID控制或計(jì)算力矩法控制［1］。顯然，這種控制方式只適用于對(duì)位置控制要求不太高的機(jī)器人系統(tǒng)。對(duì)于形狀較復(fù)雜焊縫軌跡跟蹤精度及定位精度要求較高的場合，則必須進(jìn)一步提高機(jī)器人運(yùn)動(dòng)的控制質(zhì)量。
　　由于神經(jīng)網(wǎng)絡(luò)技術(shù)的應(yīng)用不需要建立任何精確的數(shù)學(xué)模型，所以將神經(jīng)網(wǎng)絡(luò)應(yīng)用于機(jī)器人的控制自然引起了人們的重視。神經(jīng)網(wǎng)絡(luò)可作為通用的非線性模型來替代實(shí)際系統(tǒng)，能夠消除由于系統(tǒng)結(jié)構(gòu)的不確定性造成的誤差［2］，本文以弧焊機(jī)器人為對(duì)象，應(yīng)用神經(jīng)網(wǎng)絡(luò)在機(jī)器人控制中的非線性補(bǔ)償技術(shù)，研究一種基于笛卡爾空間軌跡的機(jī)器人焊縫跟蹤神經(jīng)網(wǎng)絡(luò)控制器，有效地提高了焊縫跟蹤精度。
參考文獻(xiàn)
1，Suga Y, Muto A, Kumagai M. Automatic tracking of welding line by autonomous mobile robot for welding of plates (tracking of linear and angled welding lines). Transactions of the Japan Society of Mechanical Engineers, JSME Tokyo Japan, 1997, Part C, 63(612)∶2918～2924
2，高向東，黃石生.弧焊過程中的人工神經(jīng)網(wǎng)絡(luò)焊縫檢測技術(shù).焊接學(xué)報(bào)，1998，19∶118～124
3。Gao X D, Motoji Y, Akira M. Application of fuzzy logic controller in the seam tracking of arc-welding robot. IECON Proceedings of the 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, New Orleans, LA, USA, 1997, Part 3(3)∶1367～1372