为了适应不同船舶的焊接需求,缩短船舶焊接时间,研究面向船舶大型复杂结构的多机器人协同焊接方法。构建多焊接机器人的焊接动态力平衡方程,设置约束条件并建立焊接规划模型,采用区域划分法划分舰船焊点分区,通过元启发嵌套算法设计多机器人协同焊接规划流程。利用分数阶PID控制器,将焊接控制的传递函数转化为整数阶传递函数,控制机器人精准跟踪目标焊缝,输出理想的船舶焊接轨迹。实验结果表明,采用该技术执行焊接任务的总均衡性高达0.935,具有良好的应用效果。
In order to adapt to the welding needs of different ships and shorten the welding time, a multi robot collaborative welding method for large and complex ship structures is studied. Construct a welding dynamic force balance equation for multiple welding robots, set constraints, and establish a welding planning model. Use the region division method to partition the ship's welding points, and design a collaborative welding planning process for multiple robots using meta inspired nested algorithms. Using a fractional order PID controller, the transfer function of welding control is transformed into an integer order transfer function, controlling the robot to accurately track the target weld seam and output the ideal ship welding trajectory. The experimental results show that the overall balance of welding tasks executed using this technology is as high as 0.935, which has good application effects.
2024,46(5): 39-42 收稿日期:2023-11-09
DOI:10.3404/j.issn.1672-7649.2024.05.007
分类号:TP273
基金项目:工信部课题资助项目(Z2301E01)
作者简介:钱天龙(1979-),男,硕士,高级工程师,研究方向为船厂数字化转型与智能制造
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