Coordinated Control Of The Welding Robot And Positioner

In modern industry, especially in automobile industry, the use of the welding robot is wider and wider. Also the requirement of the welding quality is higher and higher. So we need a positioner, which can adjust the welding posture, to coordinate with the robot for better welding. Commonly, the positioner is controlled as the additional axis of the robot. But this function is a special expansion, which needs customization. Otherwise, the early research of our country's robot focuses on itself, excluding the function of controlling the additional axis. So rebuilding of the early robot to get this function has positive value to suit to the upgrade of the product and reduces the cost.Researching on the welding robot without additional axis function, the thesis gives a method to control an independent positioner coordinating with the robot. And it designs a controlling system based on the YASKAWA MOTOMAN welding robot. First, the thesis analyzes the controlling method, motion instruction, communication method of the robot, and designs a system structure based on the serial communication and I/O operation. Second, it studies the motion relationship of the robot and positioner, and comes up with a coordinated arithmetic. Finally, it establishes the controller and realizes the coordinated control of the robot and positioner, which needs multitasking scheduling. As practice has shown, the method given by the article is reliable and feasible.