A comprehensive evaluation method for the operation scheme of mobile welding robot

Abstract

The invention relates to a comprehensive evaluation method for the operation plan of a mobile welding robot, comprising the following steps: collecting the values ​​of the secondary evaluation indexes in the weld seam tracking experiment, and screening out the operation plan that satisfies the welding seam tracking error; combining all the secondary evaluation indexes According to different evaluation angles, it is grouped into multiple first-level evaluation indicators, and the score of each operation plan under the first-level evaluation index is calculated according to the information entropy of the second-level evaluation index; the scores of all first-level evaluation indicators of all operation plans are verified. Principal component analysis is used to obtain the comprehensive evaluation scores of all operation schemes, and obtain the optimal operation scheme for comprehensive evaluation. Compared with the prior art, the present invention determines the operating parameters of the robot system in the welding seam tracking process through comprehensive evaluation of the welding robot system, thereby optimizing the energy distribution of the hybrid power system on the premise of ensuring tracking accuracy and stability , improve the motion performance of the welding robot, and increase the continuous power supply time of the hybrid power system.

Description

technical field [0001] The invention relates to the technical field of welding robots, in particular to a comprehensive evaluation method for an operation scheme of a mobile welding robot. Background technique [0002] Welding is one of the most important fields of application for industrial robots. With the development of modern technology, more and more projects need to realize automatic welding. At present, the working range and application fields of cable-powered mobile welding robots are limited by the way of cable power supply. A hybrid power system is composed of proton exchange membrane fuel cells (PEMFC) and lithium batteries as auxiliary energy. This power supply method not only continues the advantages of fuel cells in cleanliness, high specific energy, and no need to charge, but also retains the advantages of lithium batteries with fast response. specialty. Applying this hybrid power system to a mobile welding robot system can improve the flexibility of robot ...

AI Technical Summary

Problems solved by technology

At present, the research on robots focuses on kinematics, dynamics and decoupling control, and there are few studies on the system performance evaluation of robots.

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