Welding trajectory real-time detecting method in welding process of welding robot
A welding robot and welding process technology, applied in welding equipment, welding equipment, auxiliary welding equipment, etc., can solve the problems of complex on-site installation and high cost, and achieve the effect of simple and fast implementation, convenient maintenance, and simple and fast installation.
Active Publication Date: 2019-09-17
SHANGHAI ZHANWAN INFORMATION SCI & TECHCO LTD
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Abstract
A welding trajectory real-time detecting method in the welding process of a welding robot includes the steps that welding trajectory data in the welding process of a normal welding robot are acquired; dimensionality reduction analysis is performed on the acquired welding trajectory data, and the cluster number of distribution dense clusters of the data is determined; according to the cluster data, all data points are accurately classified, and center point coordinates of each category are obtained; most TCP data point coordinate values of each category are substituted into a BP neutral network algorithm for network training; remaining TCP coordinate values are substituted into a neutral network algorithm for network authentication success; welding trajectory data of a certain point are acquired in real time; TCP-X and TCP-Y coordinate values in actual TCP coordinate values are substituted into the neutral network algorithm so that a predicted TCP-Z coordinate value can be obtained; and a difference between the predicted TCP-Z coordinate value and an actual TCP-Z coordinate value are is calculated, the point is a normal point if the difference falls into a preset confidence interval, and the point is an abnormal point if the difference does not fall into the preset confidence interval, and predicting alarming is performed.
Application Domain
Programme-controlled manipulatorWelding/cutting auxillary devices +3
Technology Topic
Real time acquisitionData point +10
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