CAJ | 학술논문

为了实现相贯线接缝的自动焊接，提出了一种基于直接配置非线性规划方法（DCNLP）的焊道轨迹运动控制方法。以两圆柱相贯自动焊接接管为例，通过将相贯线接缝曲线焊接时间离散化为N个时间区间，在每个区间内用三次多项式代表状态变量随时间变化的关系，使用Hermite-Simpson插值定义多项式，计算逼近的多项式和实际运动方程之间的差值。为使机器手臂各关节不掠入相贯圆柱体，研究亦设下额外的不等式限制方程，以确保关节不触及圆柱体，其中不等式限制方程加上缺陷方程构成所有的限制方程，当所有限制方程均满足时，迭代的结果就收敛，同时找到最优解。仿真结果表明DCNLP在处理焊接轨迹控制问题时具有较强的鲁棒性。
위료실현상관선접봉적자동한접，제출료일충기우직접배치비선성규화방법（DCNLP）적한도궤적운동공제방법。이량원주상관자동한접접관위례，통과장상관선접봉곡선한접시간리산화위N개시간구간，재매개구간내용삼차다항식대표상태변량수시간변화적관계，사용Hermite-Simpson삽치정의다항식，계산핍근적다항식화실제운동방정지간적차치。위사궤기수비각관절불략입상관원주체，연구역설하액외적불등식한제방정，이학보관절불촉급원주체，기중불등식한제방정가상결함방정구성소유적한제방정，당소유한제방정균만족시，질대적결과취수렴，동시조도최우해。방진결과표명DCNLP재처리한접궤적공제문제시구유교강적로봉성。
Robotic manipulators have long been applied to industrial welding in the past decades. This study pays an emphasis on coaching the manipulator not to slew its five joints into the weldment of two orthogonally intersecting cylinders. Direct Collocation with Nonlinear Programming (DCNLP) is the key numerical method adopted in this study which discretizes the time history of the mo-tion into N segments and approximates the solutions in each segment by cubic polynomials. The constraint functions are comprised of the inequality constraints and defect equations. As soon as the constraint functions converge, the optimal solution is found.