This paper puts forward the Internet of things industrial control platform mobile welding robot weld trajectory tracking control method.In the industrial control platform of the Internet of Things,the angular velocity sensor and the ac-celeration sensor are used to sense the welding robot pose parameter.Build the kinematic and dynamic model of the weld-ing robot,track the trajectory of the welding robot,determine the weld error and regulation of the welding robot,and use the controller to control the trajectory of the weld.It is proved that the weld deviation under the design method is within 0.1 mm,and the consistency coefficient between weld trajectory and expected trajectory is above 9.
关键词
物联网工控平台/移动焊接机器人/焊缝轨迹/跟踪控制/动力学模型
Key words
industrial control platform of Internet of Things/mobile welding robot/weld track/tracking control/dynamic model
维普
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