摘要
针对水轮机修复专用焊接机器人,利用模糊集合理论及建立在该理论基础上的模糊控制技术,实现了机器人对待焊凹穴的自动对正.详细介绍了焊补自动对正系统即机器人前3个关节模糊控制器的设计、模糊变量的选择、精确量的模糊化和模糊决策过程.其控制方法简单可行,易于实现.
Aimed at special-purposed welding robot for hydraulic turbine repair,the design of an automatic orientation system based on the fuzzy sets theory and fuzzy control principle on it is developed to the perform bead welding on pitted surface.The design of fuzzy controller for the first three robot joins introduced in detail,selection of fuzzy variables,and their fuzzification and defuzzification of the variables are introduced.The approach is simple for real-time implementation.
出处
《兰州理工大学学报》
CAS
北大核心
2004年第5期38-41,共4页
Journal of Lanzhou University of Technology
基金
甘肃省中青年自然科学基金(19907)
