Then, how does robot seam tracking realize real-time compensation? This article will introduce in detail the specific steps of real-time compensation for robot seam tracking.
1. Weld inspection
The first step in robotic seam tracking is seam inspection, which usually requires the use of sensors. Sensors can monitor the position and shape of the weld in real time, and then transmit this information to the robot control system. There are many types of sensors, such as optical sensors, laser sensors, cameras, etc. The selection of different sensors will be affected by many factors, such as working environment, welding materials, etc.
2. Coordinate transformation
Since the coordinate system of the robot and the coordinate system of the welding seam are usually inconsistent, coordinate transformation is required during the welding seam tracking process of the robot. Specifically, information such as the position and shape of the weld seam detected by the sensor needs to be converted into coordinates in the robot tool coordinate system. This requires geometric transformation, such as rotation, translation and other operations. In practical applications, mathematical models are usually used for coordinate transformation.
3. Calculate the deviation
Through coordinate transformation, we can convert the detected weld seam information into coordinates in the robot tool coordinate system. Next, we need to calculate the amount of deviation between the robot and the weld. This is usually achieved by calculating the Euclidean distance between the robot's current position and the position of the weld. If the distance between the robot and the weld exceeds the allowable error range, real-time compensation is required.
4. Real-time compensation
After calculating the deviation, we can perform real-time compensation. The purpose of real-time compensation is to reduce the deviation by controlling the robot motion trajectory. Specifically, the steps required for real-time compensation include:
1. Determine the compensation direction: According to the positive or negative of the deviation, determine whether the robot should be adjusted left or right, up or down.
2. Calculate the compensation distance: Calculate the distance that the robot should move according to the size of the deviation.
3. Realize real-time compensation: convert the compensation distance and compensation direction into instructions that the robot control system can understand, and control the robot to perform real-time compensation operations.
5. Welding control
Through real-time compensation operation, the robot can more accurately position the welding seam and perform precise welding. However, during the welding process, since the distance between the robot and the weld seam may constantly change, the robot seam tracking needs to be realized by continuous feedback control. By continuously detecting the deviation in the welding process and making real-time compensation, the robot can control the welding path more accurately, thereby ensuring the qualification rate and quality of welding.
In short, the real-time compensation of robot seam tracking is a complex process, which needs to be realized through multiple steps such as sensor detection of weld seam, coordinate transformation, calculation of deviation and real-time compensation. Through this technology, the robot can accurately track the weld seam to ensure the quality and stability of the welding, which has a wide application prospect in the manufacturing industry.
