面向高反光窄焊缝场景的人工引导协作机器人焊接轨迹修正方法

doi:10.3901/JME.2025.15.148

机械工程学报 ›› 2025, Vol. 61 ›› Issue (15): 148-161.doi: 10.3901/JME.2025.15.148

• 人-机器人协作 • 上一篇

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面向高反光窄焊缝场景的人工引导协作机器人焊接轨迹修正方法

陶永¹, 谭栋华², 高赫³, 万嘉昊¹, 王潇桐³, 邓昌义⁴, 魏洪兴¹, 王田苗¹

1. 北京航空航天大学机械工程及自动化学院北京 100191;
2. 北京航空航天大学航空科学与工程学院北京 102206;
3. 北京航空航天大学航空发动机研究院北京 102206;
4. 国家工业信息安全发展研究中心北京 100040

收稿日期:2024-10-08 修回日期:2024-12-17 发布日期:2025-09-28
作者简介:陶永(通信作者)，男，1979年出生，博士，副教授，博士研究生导师。主要研究方向为智能机器人控制方法、面向航空的机器人、机器人集成应用等。E-mail：taoy@buaa.edu.cn;谭栋华，男，2000年出生，硕士研究生。主要研究方向为航空智能制造、复合机器人运动控制。E-mail：tandonghua@buaa.edu.cn;高赫，男，1997年出生，博士研究生。主要研究方向为复合机器人移动与操作。E-mail：buaagh@buaa.edu.cn;万嘉昊，男，1999年出生，博士研究生。主要研究方向为人机协作安全运动控制。E-mail：zb2307118@buaa.edu.cn;王潇桐，男，1998年出生，博士研究生。主要研究方向为面向人机协作的复合机器人运动规划。E-mail：wxt1131@buaa.edu.cn;邓昌义，男，1989年出生，高级工程师。主要研究方向为嵌入式工业软件、工业操作系统等。E-mail：dengchangyi@sict.ac.cn;魏洪兴，男，1974年出生，博士，教授，博士研究生导师。主要研究方向为机器人模块化技术、机器人操作系统、嵌入式机电控制技术。E-mail：weihongxing@buaa.edu.cn;王田苗，男，1960年出生，博士，教授，博士研究生导师。主要研究方向为嵌入式智能感知与控制以及医疗外科机器人、特种服务机器人等。E-mail：itm@buaa.edu.cn
基金资助:
国家重点研发计划资助项目(2022YFB4700400)。

A Collaborative Robot Welding Trajectory Correction Method for Highly Reflective Narrow Welds under Human Advance Guidance

TAO Yong¹, TAN Donghua², GAO He³, WAN Jiahao¹, WANG Xiaotong³, DENG Changyi⁴, WEI Hongxing¹, WANG Tianmiao¹

1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191;
2. School of Aeronautic Science and Engineering, Beihang University, Beijing 102206;
3. Research Institute of Aero-Engine, Beihang University, Beijing 102206;
4. China Industrial Control Systems Cyber Emergency Response Team, Beijing 100040

Received:2024-10-08 Revised:2024-12-17 Published:2025-09-28

摘要/Abstract

摘要： 激光焊接已广泛应用于各个行业，而传统的人工示教或离线编程在面对工件形位差异时缺乏有效改进措施，人工修正过程既耗时又费力。面对高反光窄焊缝等复杂焊接场景时，噪声大且稳定性差，难以准确修正机器人的焊接轨迹从而影响焊接质量。因此，提出一种基于非刚性配准的面向高反光窄焊缝的协作机器人焊接轨迹修正方法。首先，提出了基于动态ROI预测的寻位方法，在人工引导的协作方式下通过线激光传感器获取实际工件的部分焊缝位置点；接着，提出一种优化后的WTo-CPD非刚性配准算法，密集的离线编程轨迹点集以稀疏的实际焊缝点为目标修正为新的密集轨迹点集。最后，试验验证了该方法在协作机器人焊接轨迹修正方面的有效性，在焊件存在0.3 mm内的随机误差下，该修正算法相比于Nonrigid-CPD算法、Bayesian-CPD算法收敛速度分别平均提高了27.16%与40.50%，并保证了平均误差控制在0.02 mm，最大误差小于0.21 mm，有效保证了焊接质量。

关键词: 协作机器人, 激光焊接, 窄焊缝寻位, 非刚性配准, 轨迹修正

Abstract: Laser welding is widely applied across industries. However, traditional manual teaching or offline programming lacks effective improvements for batch workpiece shape variations. Manual corrections are time-consuming and labor-intensive. In complex welding scenarios like high-reflectivity narrow seams, noise and instability hinder accurate trajectory corrections, affecting quality. A non-rigid registration-based method for correcting welding trajectories on high-reflectivity narrow seams is proposed. Firstly, a positioning method based on dynamic ROI prediction was proposed, which obtains partial weld position points of the actual workpiece through a line laser sensor in a manually guided collaborative manner. Secondly, an optimized WTo-CPD algorithm registers the dense trajectory point set from offline programming to the target point set, creating a new welding trajectory. Finally, the experimental results show that with random errors of 0-0.3 mm, the convergence speed of the WTo-CPD improves by an average of 27.16% and 40.50% compared to Nonrigid-CPD and Bayesian-CPD. The average error is around 0.02 mm and the maximum error is less than 0.21 mm, ensuring the welding quality.

Key words: collaborative robot, laser welding, narrow weld positioning, non-rigid registration, trajectory correction

中图分类号:

TP242

陶永, 谭栋华, 高赫, 万嘉昊, 王潇桐, 邓昌义, 魏洪兴, 王田苗. 面向高反光窄焊缝场景的人工引导协作机器人焊接轨迹修正方法[J]. 机械工程学报, 2025, 61(15): 148-161.

TAO Yong, TAN Donghua, GAO He, WAN Jiahao, WANG Xiaotong, DENG Changyi, WEI Hongxing, WANG Tianmiao. A Collaborative Robot Welding Trajectory Correction Method for Highly Reflective Narrow Welds under Human Advance Guidance[J]. Journal of Mechanical Engineering, 2025, 61(15): 148-161.

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面向高反光窄焊缝场景的人工引导协作机器人焊接轨迹修正方法

A Collaborative Robot Welding Trajectory Correction Method for Highly Reflective Narrow Welds under Human Advance Guidance

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