工业机器人焊接平台的精准定位与运动控制研究
Research on precise positioning and motion control of industrial robot welding platform
罗卢洋 1谈剑峰 1黄海涛 1邓火生2
作者信息
- 1. 广西质量技术工程学校,广西 南宁 541699
- 2. 广西机电职业技术学院,广西 南宁 530007
- 折叠
摘要
本研究构建了工业机器人焊接平台的精准定位与闭环运动控制系统.采用基于视觉与激光传感器融合的改进扩展卡尔曼滤波进行状态估计,以及MPC进行轨迹跟踪控制.系统实现了定位精度±0.05mm、轨迹跟踪精度±0.2mm.高速焊接试验验证了所设计控制策略的出色鲁棒性,误差在最高240mm/s速度下控制在0.32mm以内.
Abstract
In this study,a precise positioning and closed-loop motion control system for industrial robot welding platform were constructed. The improved extended Kalman filter based on the fusion of vision and laser sensor is used for state estimation,and MPC is used for trajectory tracking control. The system achieves a positioning accuracy of±0.05mm and a trajectory tracking accuracy of±0.2mm. The high-speed welding test verifies the excellent robustness of the designed control strategy,and the error is con-trolled within 0.32mm at the maximum speed of 240mm/s.
关键词
机器人焊接/精确定位/模型预测控制Key words
Robot welding/Precise positioning/Model predictive control引用本文复制引用
出版年
2024
NETL
NSTL
万方数据