• CN:11-2187/TH
  • ISSN:0577-6686

›› 2000, Vol. 36 ›› Issue (5): 7-10.

• 论文 • 上一篇    下一篇

机器人焊缝跟踪神经网络控制的研究

高向东;黄石生;余英林   

  1. 华南理工大学机电工程系
  • 发布日期:2000-05-15

STUDY ON THE NEURAL NETWORK CONTROL FOR SEAM TRACKING OF ARC – WELDING ROBOT

Gao Xiangdong;Huang Shisheng;Yu Yinglin   

  1. South China University of Technology
  • Published:2000-05-15

摘要: 研究神经网络技术在弧焊机器人焊缝跟踪过程中的应用,通过神经网络在笛卡尔空间轨迹的补偿作用,确定出基于笛卡尔空间参考轨迹控制的机器人焊缝跟踪神经网络控制器。与传统的关节计算力矩法相比,所设计的神经网络控制器具有良好的控制特性及较强的鲁棒性,焊缝跟踪精度得到了显著的提高。

关键词: 焊缝跟踪, 机器人, 神经网络

Abstract: The application of neural network technique in the seam tracking process of arc – welding robot is studied. A neural network controller to modify the reference Cartesian trajectory for the robotic seam tracking is presented through the compensation of the neural network for the Cartesian trajectory. Compared with the traditional computed torque control method, the proposed neural network controller yields salient controlling characteristics and strong robustness. The precision of seam tracking is conspienously promoted.

Key words: Neural network, Robot, Seam tracking

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