| Automatic welding is an important and advanced technology in manufacturing, welding robot’s development greatly promote the overall level of welding technology, has the huge market potential and wide promotion space. The independent research and industrialization of welding robot has great significance for the development of the manufacturing industry in our country.In this paper, combined with the present situation and tendency of the development of welding robots at home and abroad, to design controller for arc welding robot system and study its control technology. With "XYZ rectangular coordinate + welding swing" welding carriage as control object, design hardware circuit of the controller based on STM32 microprocessor, build embedded operating system platform and Android application for controller. Controller as the control center process welding output, motion path planning and the remote communication and so on. It control the power output of arc welding power source and the welding torch swing by PWM signal, collect welding parameters to feedback control by hall sensor; Controller communicate with welding robot by CAN bus and drive it perform the function of teaching and reappearing, communicate with PC by WIFI and the Android application process user operation. Develop the function of teaching and reappearance, welding control, parameter setting and adjustment, program storage and wireless control for system. Analyze and optimize the motion interpolation algorithm of system, and puts forward a new type of PID algorithm applied to welding control, make the system keep good performance of control.Finally, set up experimental platform, simulate and analyze the teaching welding trajectory, test welding swing and adjustment of welding output for the overall experiment. |
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