A real-time trajectory tracking method for arc welding robots based on an improved T-S(Takagi Sugeno)fuzzy model was proposed to address the problem of arc welding robots being affected by many uncertain factors in actual operations,which leads to welding trajectory deviation from the expected trajecto-ry.Identify and locate the weld seam,and determine the position coordinates of the weld seam centerline in the robot coordinate system through coordinate transformation.The ant colony algorithm searches for the optimal welding path from the starting position to the target position by simulating the foraging behavior of ants based on the coordinates of the weld centerline in the robot coordinate system.Finally,an improved in-terval type-2 T-S fuzzy model was designed,Real time acquisition of new weld seam information through visual sensors,calculation of trajectory error,and use of improved T-S fuzzy model as input to adjust the ro-bot′s motion trajectory in real time.The results show that after using the improved T-S fuzzy model,the trajectory tracking discreteness of the robot is reduced to below 1 mm.Under the application of the im-proved T-S fuzzy model,the trajectory of the arc welding robot highly coincides with the expected trajecto-ry,greatly reducing the tracking discreteness compared to before the application of the T-S fuzzy model.
关键词
改进T-S模糊模型/弧焊机器人/焊缝识别与定位/轨迹规划/轨迹实时跟踪方法
Key words
improved T-S fuzzy model/arc welding robot/weld seam identification and positioning/trajec-tory planning/real time trajectory tracking method
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