Research on multi-robot collaborative welding for large and complex structures of ships
In order to adapt to the welding needs of different ships and shorten the welding time,a multi robot collabor-ative welding method for large and complex ship structures is studied.Construct a welding dynamic force balance equation for multiple welding robots,set constraints,and establish a welding planning model.Use the region division method to parti-tion the ship's welding points,and design a collaborative welding planning process for multiple robots using meta inspired nested algorithms.Using a fractional order PID controller,the transfer function of welding control is transformed into an in-teger order transfer function,controlling the robot to accurately track the target weld seam and output the ideal ship welding trajectory.The experimental results show that the overall balance of welding tasks executed using this technology is as high as 0.935,which has good application effects.
shipslarge and complex structuresmulti robotcollaborative welding
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