Research On Arc Welding Robot Control System Based On Embedded Motion Controller

Arc welding robots are the most widely used robot for industrial robots,the control system research of which has been the hotspot of the industry.Aiming at the problem that the conventional teaching reproduction system cannot meet the precision of complex weld,based on the GUC-T embedded motion controller,a set of arc welding robot control system including teaching and reproducing and automatic visual tracking is designed,so that the user can use the teaching function for non-seam tracking task teaching,and use visual function to achieve automatic tracking of the weld.The following research work is carried out around this subject:Firstly,the hardware structure of the robot control system is constructed based on the functional requirements of the robot and the characteristics of the actual industrial control.Considering the problem of large volume,poor real-time performance and weak anti-jamming capability of the traditional PC system,this work adopts the GUC-T embedded motion controller to realize the motion planning of the robot.At the same time,in order to reduce the burden of the motion controller,the research introduces a computer combining display and control to realize the subsystem module for visual processing and task planning.Secondly,the kinematic model of arc welding robot is analyzed.Aiming at the requirement of the stability of the welding process of the arc welding robot,the dynamic damping coefficient is constructed based on the singular value decomposition of the Jacobi matrix to improve the singular robustness of the robot and realize the smooth transition of the robot in the face of the singular problem.A closed-loop inverse algorithm is used on the basis of singular robustness algorithm.The algorithm is verified by MATLAB and compared with the traditional dynamic damping coefficient method.Then,for the consideration of the stability of the arc welding robot,the spatial trajectory is interpolated by the S-curve acceleration and deceleration algorithm optimized by the sinusoidal curve in the trajectory planning.In the process of attitude planning,the fifth order spline attitude curve based on the unit quaternion is introduced to realize the high order continuous trajectory planning of attitude.Aiming at the speed and acceleration impact of the continuous trajectory connection,five Bezier curve is introduced to construct the trajectory of the transition section,and the algorithm simulation experiment of MATLAB is given.Then,an eye-in-hand weld visual tracking system is constructed by combining the point-structured optical scanning sensor.In order to improve the precision of hand-eye calibration,we use the Gram-matrix to construct the linear independent measure factor of the matrix vector group on the basis of the five-point calibration method.Then,the motion control algorithm of real-time correction of weld is given by combining resolved motion rate control.Finally,based on the hardware platform to build embedded software development environment,respectively,the research uses QT for embedded Linux environment and VS2008 for WinCE environment to develop the subsystem software,and uses TCP/IP protocol to achieve communications among the hardware units.Through experiments,it shows the effectiveness of the control system.The motion planning algorithm used in the control system has high order continuity and has been applied in the actual welding work environment,which has high theoretical value and practical significance.At the same time,it has been added to the first generation teaching control system Visual module,making the control system has a second generation of perception system characteristics.