Centroid compensation control of welding robot based on multi-sensor laser vision
The errors in manufacturing,installation,mechanical transmission and temperature change are relative-ly large,resulting in the offset of the metamorphic center of the compensation robot and the loss of the desired position and posture during the task execution.In order to improve the working efficiency of the welding robot,a compensation control method for the metamorphic center of the welding robot using multi-sensor laser vision is proposed.The weld-ing robot metamorphic center model is established.The laser sensor is used to scan the geometric characteristics of the actual trajectory and posture of the welding robot,and the laser vision image is obtained to calibrate the pipeline weld.The PLC controller is used to adjust the trajectory and posture of the welding robot,eliminate the interference of iner-tial force on the displacement of the metamorphic center,and realize the compensation control of the welding robot met-amorphic center.The experimental results show that the error of the compensation track of the metamorphic center on the X-Y coordinate plane,Z-X coordinate plane and Z-Y coordinate plane is about 5 cm from the expected track,and the height coincides with each other;After control,the inertia displacement of the welding robot is within 0.1 cm,which is close to zero.The inertia force no longer guides the welding robot to move,and it can stably stop at the target position.The metamorphic center control performance is good.
万方数据
维普
