Research And Development Of Welding Robot System Based On Sliding Mode Variable Structure Control

Considering the excellent performance of universal programmable industrial robot,since its birth in the mid dle of last century,it has been rapidly introduced into various industrial fields.In particular,with the rapid development of computer technology and servo technology in recent years,industrial robot technology and its applications have made a great breakthrough.Welding robot in various fields of application is also increasing.At present,robot welding technology is widely used in the production process of car seat parts,such as the production and welding process of car seat frame.Therefore,it is of obvious practical significance to study this production and application process.The welding robot studied in this paper is a multi-joint robot with a very complex system.It is a nonline ar system with multiple inputs and outputs.For the trajectory tracking control of robot,adaptability and robustness are the basic characteristics of the control equipment.Because sliding mode variable structure control has strong robustness,sliding mode variable structure control is an effective method.When designing sliding mode control,not only the control effect should be considered,but also the chattering in sliding mode control should be eliminated.This paper first studies the kinematics of nonlinear robot and the dynamic equation of nonlinear robot,and then studies the application of sliding mode control in robot control.Sliding mode motion includes two processes:approaching motion and sliding mode motion.The arrival condition of sliding mode control can only guarantee that the system can reach the sliding mode surface from any point,but it cannot reflect how the state reaches the sliding mode surface.The research of the sliding mode control method based on the approach law does not limit the specific approach trajectory and improves the dynamic quality of the approach motion.Then,the robot sliding mode control based on fuzzy adaptive gain adjustment is introduced.Compared with the traditional fixed-gain robot sliding mode control,the fuzzy adaptive gain sliding mode control method has better control effect and can eliminate chattering better,so as to meet the quality requirements of dynamic control.Then,the production process of MPV seat frame was analyzed and studied.Final ly,the welding robot workstation was designed and studied.The software and hardware design of the welding robot based on PLC and the traceability system based on OPC data interaction were completed.The welding robot system improves the overall quality of welding products,improves the production efficiency of enterprises,and reduces the production and processing costs,which is of great theoretical and practical significance.