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针对骑座式相贯线焊接机器人焊枪姿态的规划问题,提出了一种基于模糊控制的算法.以焊缝倾角、焊缝转角、坡口大小、被贯筒体厚度和相贯筒体厚度为输入变量,以焊接行走角和工作角为输出变量,建立多输入多输出系统模糊控制器;推导出各输入变量的隶属度函数;采用经验归纳法设计模糊控制规则,建立了相应的控制规则表;最后规划出焊枪的工作角和行走角.对不同的相贯筒体直径进行了仿真,结果表明,采用加权模糊专家系统对骑座式相贯线焊接机器人焊枪的工作角和行走角进行规划,可以有效的完成焊接过程焊枪的姿态控制.
Aiming at the programming problem of welding robotic gun attitude based on the intersection of the saddle and the seat, a fuzzy control based algorithm is proposed. Including the angle of the weld, the angle of the weld, the size of the groove, the thickness of the intersecting cylinder and the thickness of the intersecting cylinder Input variables, the welding walking angle and working angle as output variables, the establishment of multi-input and multi-output system fuzzy controller; deduced the membership function of each input variable; fuzzy control rules were designed by empirical induction to establish the corresponding control rules table Finally, the working angle and walking angle of welding torch are planned.The diameter of different intersecting cylinders is simulated, and the results show that the working angle and walking angle of welding robot welding torch with riding-type intersecting line are planned by using the weighted fuzzy expert system , Can effectively complete the welding process gun attitude control.