爬行式弧焊機器人控制系統(tǒng)設計、仿真與實驗研究.pdf

1、分類號UDC密級編號昌避!；3if學位論文爬塹煎趣埕扭鹽厶控趔丕筮絲讓!魚真皇塞墜硒宣——ControlSystemDesignSimulationandExperimentResearchforthe——指導教師姓名：韭堡教撞畝邑盤堂信皇工程堂陵申請學位級別：王堂亟專業(yè)名稱：整劍理迨皇撞亟』工捏論文提交口期：2QQ5壬5旦論文答辯日期：2QQ』生月學位授予單位和日期：直昌盔堂2QQ5生2爿答辯委員會主席：盈亡!世——評閱人Abstra

2、ctionBasedOilthedevelopedcrawltypearc—weldingrobotOnsite，thisthesisfocusesOiltheanalysesandprogrammingforitscontrolsystem，andthentherealizationofthesystemThemainjobistorenewthecontrolsystemforthehardware，SOthatittailreal

3、izethesmoothtrackingfunctionwhenweldingOilsiteAtfirst，analyzingandsummarizingtheusedbasicmethodsisnecessarytofindtheexistentfaultsandshortcomingsAndthen，gettothesteponfaultsresolvingandnewmethodspromoting，andprogrammingf

4、orsoftandhardwareAtthisstep，youshouldbeawarethatdifferentmethodsorresolveprojectsareentangledeachothertheirrelationshipisakindofinheritforthattheirrealizationisaprocessofstepbystep，andthentheproblemsolvingcapabilitycould

5、focusonthecredibifityandprecisionoftrackingbeimprovedThenusingoneortwoprojectsasasample，itstatestheprocesshowthehardandsoftwarebecarriedoutForsomeimportantsoftwarefunction，therewouldbesomeparticularlystatementsThenextiss

6、imulation，basedonthedifferentideasmentionedaboreInthesimulation、acreditablekinematicquotationisveryimportantThereweusedadevelopedDneandfoundo“fthatitworksSOperfectthatcarlmatchtheresultsofourweldingexperimentsinthelaband

7、OilsiteLotsoffigureshavebeenprovidedtoprovethecapabilityofFlewmethods，andatthesarnetime，thequotation，whichhadneverbeusedbefore，alsoisproveditsprecisioninthesecontrastsAtlast，itgetsitsstatementthatwiththenewpromotedmethod

8、sthetrackingstabilityhasbeenimprovedpreciouslyandcreditablyAndthearCweldingrobotCandowellofitsjobonmulti—layerandmultitraceoflargepiecesweldingonsiteLiuZhengwen(Automatization)Directedby：ProfZhangHuaKeyword：mobilerobotwe