An autonomous welding control method based on hand-eye coordination of manipulator

Abstract

The invention discloses an automatic welding control method based on hand-eye coordination of a mechanical arm. The automatic welding control method includes the steps that (1) a manipulator is remotely operated manually, the coordinates of a weld joint are movably measured by a binocular vision system along the weld joint in the optimal range away from the weld joint, and the measured coordinates are converted into base coordinates of the manipulator from measurement base coordinates of the binocular vision system; (2) an operation position matrix of all points of the weld joint are calculated; (3) a kinematic inverse transformation method is called for obtaining an angle sequence of each joint inverse solution of the manipulator; and (4) operation parameters are set manually, and one-time welding is completed. According to the automatic welding control method based on hand-eye coordination of the mechanical arm provided by the invention, a remotely-operable six-degree-of-freedom welding robot with a binocular vision positioning function is used for replacing manual teaching assistance, an off-line programming method is applied, and therefore the positioning difficulty of tail-end welding of the manipulator is reduced, the mental burden on an operator is relieved, and the working efficiency is greatly improved.

Description

technical field [0001] The invention relates to the field of robot control, in particular to an autonomous welding control method based on hand-eye coordination of a mechanical arm. Background technique [0002] With the continuous development of science and technology, and the rapid increase in the field of robots replacing manual labor, the use of robots for operations, reducing the difficulty of handling, and avoiding accidents by staff are of great significance to improving the overall technical level of science and technology and operating efficiency. [0003] The existing vehicle-mounted manipulator robots in the world include crawler "trolley", "super trolley" MPR-800 multifunctional intelligent robot, "Andrews HD-I" robot, "Spirit A" and "Spirit B" platoons Explosive robot, "RAPTOP-EOD" medium-sized EOD robot, etc. The control system is a crucial part of the robot. The core of the control system is hand-eye coordination, inverse motion algorithm and continuous traje...

AI Technical Summary

Problems solved by technology

The present invention solves the problems that existing welding basically adopts simple manual remote operation, manual teaching assistance, off-line programming and other methods, which increases the difficulty in welding positioning at the end of the manipulator, causes a large mental burden on the operator, is prone to fatigue, and has low operating efficiency.

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