| 基于滑模控制器的电弧传感焊接机器人轨迹跟踪控制研究 |
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| 引用本文： | 李湘文,洪波,尹力,肖兵球,洪宇翔. 基于滑模控制器的电弧传感焊接机器人轨迹跟踪控制研究[J]. 上海交通大学学报, 2008, 0(Z1) |
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| 作者姓名： | 李湘文 洪波 尹力 肖兵球 洪宇翔 |
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| 作者单位： | 湘潭大学机械工程学院，湘潭大学信息工程学院 |
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| 摘 要： | 针对电弧传感焊接机器人系统的非完整约束性,建立了机器人运动学模型,通过讨论两后轮为控制输入的电弧传感焊接机器人轨迹跟踪问题,设计了一种滑模控制器,且应用Lyapunov稳定性理论保证了跟踪误差渐近收敛到零.经直线和圆弧2种轨迹跟踪的实验仿真结果,验证了所设计控制器的有效性和正确性.
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| 关 键 词： | 电弧传感 滑模控制 轨迹跟踪 |
Track Controlling Research of the Arc Welding Moving Robot with Arc Sensor Based on Sliding Mode Controller |
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| LI Xiang-wena,HONG Boa,YIN Lia,XIAO Bing-qiua,HONG Yu-xiangb. Track Controlling Research of the Arc Welding Moving Robot with Arc Sensor Based on Sliding Mode Controller[J]. Journal of Shanghai Jiaotong University, 2008, 0(Z1) |
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| Authors: | LI Xiang-wena HONG Boa YIN Lia XIAO Bing-qiua HONG Yu-xiangb |
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| Affiliation: | LI Xiang-wen~a,HONG Bo~a,YIN Li~a,XIAO Bing-qiu~a,HONG Yu-xiang~b |
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| Abstract: | Considering the non-holonomic constraits of a welding robot system with arc sensor,a robot kinematics model was established.And a sliding mode controller was designed after discussing trajectory tracking issues of the arc welding,as the control importation of two rear wheels was taken.The tracking error is converged to zero asymptoticly by the application of Lyapunov stability theory.Finally,the effectiveness and accuracy of the controller were proved by two simulation results of linear and arc tracking. |
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| Keywords: | arc sensor sliding controller trajectory tracking |
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