【摘要】 为实现水下焊接的智能化,在设计好的水下机器人平台上,开发了一套焊缝自动跟踪算法。采用2自由度PID控制算法控制横向滑块实时精确跟踪焊缝,爬行小车依据滑块的位置与速度信号粗略跟踪焊缝轨迹的模糊控制方法实现大范围的焊缝自动跟踪。焊接试验表明,该算法具有较好的稳定性、可靠性,跟踪精度高,可达到±0.3 mm,在水下环境中移动机器人自动焊接具有良好的应用前景。更多还原

【Abstract】 For the realization of intelligent underwater welding,a set of automatic seam tracking algorithm was developed.2 degrees of freedom PID control algorithm was adopted to control the horizontal slider accurate tracking weld real time.Crawling car tracked the weld in a wide range by fuzzy control method which designed base on slider position and velocity signals.Welding experiments showed that the system had good stability and reliability.Tracking precision was high to arrive at ±0.3 mm.It would have good application foreground for underwater automatic welding in the future.更多还原