【摘 要】
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An algorithm of auto-searching weld line for welding mobile robot is presented.Auto-searching weld line is that the robot can automatically recognize a weld gro
【机 构】
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Institute of Welding Engineering
论文部分内容阅读
An algorithm of auto-searching weld line for welding mobile robot is presented.Auto-searching weld line is that the robot can automatically recognize a weld groove according to the characteristics of the weld groove before welding, and then adjust itself posture to the desired status preparing for welding, namely, it is a process that the robot autonomously aligns itself to the center of welding seam. Firstly, the configuration of welding mobile robot with the function of auto-searching weld line is introduced, then the algorithm and implementation of auto-searching weld line are presented on the basis of kinematics model of the robot, at last trajectory planning among auto-searching weld line is investigated in detail. The experiment result shows that the developed welding mobile robot can successfully implement the task of auto-searching weld line before welding, tracking error precision can be controlled to approximate ± 1.5 mm, and satisfy the requirement of practical welding project.
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