Fig.7 Results of welding curve
(a) 管道焊接结果;(b) 焊炬位置偏差;
(c) 横向滑块位置;(d) 机器人航向角
图8 管道焊接结果
Fig.8 Results of welding pipeline
有误差的,所以,仿真实验中十字滑块和移动小车的运动较平稳。
4 结论
(1) 采用自适应模糊控制算法和模糊神经网络算法为移动平台和十字滑块设计协调控制策略,协调在焊接工作中移动机器人平台和十字滑块的运动,实现对曲线焊缝的光滑焊接,焊接质量满足实际焊接需要。
(2) 利用神经网络的自学习和自适应能力,实现模糊控制的模糊隶属函数和控制规则的在线调节。
(3) 基于虚拟仪器搭建的焊接机器人测控系统进行焊接试验验证具有较强的可靠性。
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