| 摘要: |
| 介绍了一种采用B3样条进行空间复杂弯曲焊缝跟踪的离线样点示教式控制方法.提出了一种查表方式的改进二分法对插补误差精度进行变步长控制,提高了插补运算的效率和精度.应用该方法对管道焊接时的相贯线进行了Matlab仿真实现.结果表明,该示教控制算法有效,可以实现三维弯曲焊缝的示教/再现,最后基于精密焊接的数控系统对三维弯曲焊缝的跟踪控制进行了焊接验证. |
| 关键词: B3样条 插补 改进二分法 焊缝跟踪 示教 |
| DOI： |
| 分类号: |
| 基金项目:福建省科技重大专项资助项目(592007HZ0004-1) |
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| Complex curved welding seam off-line teaching and tracking based on B3-spline |
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WU Shide, HU Hao, YU Liang
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School of Mechanical and Electronic Engineering, China University of Petroleum(Beijing), Changping, Beijing 102249, China
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| Abstract: |
| The method of fitting and interpolation for the complex space curved welding seam tracking,depending on off-line samples teaching style by B3-spline curves,was introduced in this paper.In order to improve both accuracy and efficiency of interpolation in seam tracking,the improved dichotomy was proposed for changeable step-size control by the look-up table method.From the Matlab simulation results of pipe welding intersecting lines samples teaching,the methods above could be proved effectively in the process of weld seam tracking control,it provided experimental foundation for developing actual welding control system.Finally,the validity of the method has been verified by welding test. |
| Key words: B3-spline interpolation improved dichotomy seam tacking teaching |
