引用本文:高向东，黄石生，毛刘彰，山本元司.弧焊机器人焊缝跟踪神经网络控制器[J].控制理论与应用,1999,16(3):349~354.[点击复制]
Gao Xiangdong ， Huang Shissheng，Akira Mohri and Motoji Yamamoto.Application of Neural Network Controller in the Seam Tracking of Arc-Welding Robot[J].Control Theory and Technology,1999,16(3):349~354.[点击复制]
弧焊机器人焊缝跟踪神经网络控制器
Application of Neural Network Controller in the Seam Tracking of Arc-Welding Robot
摘要点击 778  全文点击 411  投稿时间：1998-06-10  
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DOI编号  
  1999,16(3):349-354
中文关键词  弧焊机器人  焊缝跟踪  神经网络
英文关键词  arc-welding robot  seam tracking  neural network
基金项目  
作者单位
高向东，黄石生，毛刘彰，山本元司  
中文摘要
      介绍一种能提高弧焊机器人焊缝跟踪精度的神经网络控制器。通过神经网络的补偿作用，弥补了由于无法知道机器人精确模型所造成的控制上的误差。不同于机器人控制中传统的神经网络控制器，本文提出并应用了基于笛卡尔空间轨迹控制的机器人焊缝跟踪神经网络，大大简化了控制算法。计算机模拟及实验结果表明，该控制器非常适用于机器人的实际焊接，对于现有的机器人，无须改变其控制内部结构，即可应用该技术，与常用的机器人关节力矩控制法相比，有效地提高了跟踪精度并具有较强的鲁棒性。
英文摘要
      A neural network(NN) controller which improves the accuracy of seam tracking of an arc-welding robot is presented in this paper. The improvement of tracking accuracy can be achieved by applying the NN controller for compensating for model uncertainties of robot manipulator. Unlike the traditional NN compensation of model uncertainties which was carried through by modifying the joint/force of the robot, the proposed NN compensaton is used to modify the reference Cartesian seam trajectory, which is easily applied in practice. The required internal signal level of proposed NN for the seam modification is much smaller. Simulations and experiments have been performed on an actual arc-welding robot manipulator to test the effectiveness of NN control scheme. It has been found that NN can generate better tracking performance than the traditional computed torque(CT) control method which is based on the manipulator dynamics only. One goal of this paper is to stimulate further discussion of application of NN in the arc-welding robot control.