Research on Stabilization Control Technology of Automatic Welding Robot Arm for Stainless Steel Enclosure Structure
To improve the stability and efficiency of the automatic welding robot arm for stainless steel enclosure structure and to solve the sealing problem of the non-welded assembled wall in the construction process of the high confinement biosafety laboratory,a stabilization control technology of automatic welding robot arm for stainless steel enclosure structure is studied.By analyzing the position,elastic deformation and energy state of the robot arm,the dynamic eigenvalues are solved,and then the accurate robot arm dynamic parameters are obtained.On this basis,the impedance equation is constructed to accurately describe the interaction between the robot arm and the stainless steel enclosure structure.Based on the impedance equation,the forced stability control function is established to analyze the kinetic energy of the mass block of the automatic welding robot arm of the stainless steel enclosure structure,to rewrite the impedance forced stability control function.Calculate the impedance control law to realize the forced stability control of the automatic welding robot arm for stainless steel enclosure structure.The test results show that,after the forced stabilization control of this technology:the joint angle response of the robot arm is less than 1° from the expected value;the maximum value of the end vibration is reduced to 0.023 m,and the minimum value is reduced to 0.008 m;the contact force of the robot arm can be kept constant in the operation time of 25 s.The technology can effectively reduce the amount of vibration at the end of the robot arm and keep the contact force constant quickly.The technology improves the stability and efficiency of the automatic welding robot arm for stainless steel enclosure structure,and the application effect is superior.
万方数据
维普
