移动焊接机器人轨迹跟踪控制机制及实验

摘要： 针对目前移动焊接机器人进行滑模变结构控制的动力学研究较少，且滑模变结构控制中产生的高频振荡及其对移动焊接机器人的焊缝跟踪精度影响较大的问题，搭建了移动焊接机器人平台，建立了移动焊接机器人的运动学和动力学模型，并提出了一种能够实现移动焊接机器人高精度焊缝跟踪的新型控制算法.基于移动焊接机器人的动力学模型，采用滑模变结构控制理论对移动焊接机器人进行鲁棒性控制，并采用光滑的连续函数代替滑模变结构控制中的符号，以消除高频振荡的影响.结果表明了所提出方法的可行性和有效性.在焊缝跟踪过程中，移动焊接机器人运行平稳，得到了较高的跟踪精度.

Seam Yracking Control Mechanism and Theoretical Analysis of Welding Mobile Robot

Abstract： A mobile welding robot was made, the kinematics and dynamics model of the welding mobile robot were established, and a control algorithm to achieve seam tracking of a mobile welding robot was proposed. Based on the dynamics of the mobile welding robot, the theories of sliding mode for robust control were used in the proposed control algorithm, and smooth continuous function was used instead of the traditional switching function to deduce the chattering. The effectiveness of the proposed method is verified by experiments. In the seam tracking process, the robot moves steadily without any obvious chattering.