Research on Motion Control of Automatic Welding of Non-ideal Intersecting Weld
In order to realize the automatic welding for intersecting welds of large component with errors in processing and assembly,based on the brief introduction of the structure and working principle of the four-axis linkage welding robot,a general mathematical model of intersecting welds with skew and bias was established,and a calculation method for continuous control of the position parameters and attitude adjustment values of the welding torch was proposed.The position of the welding torch was determined by using the key point teaching and piecewise spatial arc interpolation,and the attitude of the welding torch was given by the princcipal normal surface bisection angle method.Finally,the PC+motion control card were used to constitute the servo control system to drive the motor to perform the motion control algorithm.The motion control algorithm has strong universality,which has important reference value for the engineering application of pipe weld.
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