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Seam-tracking based on dynamic trajectory planning for a mobile welding robot
洪宇翔, 都东, 潘际銮, 李湘文1,2,3
1.1. ;2.
2. ;3.
3.
摘要:
A new seam-tracking method based on dynamic trajectory planning for a mobile welding robot is proposed in order to improve the response lag of the mobile robot and the high frequency oscillation in seam-tracking. By using a front-placed laser-based vision sensor to dynamically extract the location of the weld seam in front of torch, the trend and direction of the weld line is roughly obtained. The robot system autonomously and dynamically performs trajectory planning based on the isometric approximation model. Arc sensor technology is applied to detect the offset during welding process in real time. The dynamic compensation of the weld path is done in combination with the control of the mobile robot and the executive body installed on it. Simulated and experimental results demonstrate that the method effectively increases the stability of welding speed and smoothness of the weld track, and hence the weld formation in curves and corners is improved.
关键词:  welding automation|seam tracking|mobile robot|dynamic trajectory planning
DOI:10.12073/j.cw.20190717002
分类号:
基金项目:
Seam-tracking based on dynamic trajectory planning for a mobile welding robot
Yuxiang Hong, Dong Du, Jiluan Pan, Xiangwen Li1,2,3
1.1. College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China;2.
2. Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, Tsinghua University, Beijing 100084, China;3.
3. Engineering Research Center for Complex Trajectory Machining Technology and Equipment, Ministry of Education, Xiangtan University, Xiangtan 411105, China
Abstract:
A new seam-tracking method based on dynamic trajectory planning for a mobile welding robot is proposed in order to improve the response lag of the mobile robot and the high frequency oscillation in seam-tracking. By using a front-placed laser-based vision sensor to dynamically extract the location of the weld seam in front of torch, the trend and direction of the weld line is roughly obtained. The robot system autonomously and dynamically performs trajectory planning based on the isometric approximation model. Arc sensor technology is applied to detect the offset during welding process in real time. The dynamic compensation of the weld path is done in combination with the control of the mobile robot and the executive body installed on it. Simulated and experimental results demonstrate that the method effectively increases the stability of welding speed and smoothness of the weld track, and hence the weld formation in curves and corners is improved.
Key words:  welding automation|seam tracking|mobile robot|dynamic trajectory planning