文献类型：会议论文

中文题名：INTELLIGENT CONTROL SYSTEM OF WELDING GUN POSE FOR PIPELINE WELDING ROBOT BASED ON RADIAL BASIC FUNCTION NETWORK AND EXPERT SYSTEM

作者：Jingwen Tian[1];Meijuan Gao[1];Liting Cao[1];

机构：[1]Department of Automatic Control,Beijing Union University;

第一机构：北京联合大学城市轨道交通与物流学院

会议论文集：INternational Conference on Product Design and Manufacturing Systems(2007年产品设计与制造系统国际会议)论文集

会议日期：20071012

会议地点：重庆

主办单位：重庆大学

语种：英文

中文关键词：Intelligent;control;Pipeline;welding;robot;Welding;gun;pose;Radial;basis;function;network;Expert;system

摘要：Considering the issues that the control system of the welding gun pose in whole-position welding is complicated and radial basis function neural network (RBFNN) can effectively overcome the weakness of BP network,an intelligent control system of welding gun pose for pipeline welding robot based on RBFNN and expert system is presented in this paper.This control system makes full use of characteristics of RBFNN and expert system.The ADXRS300 micro-mechanical gyro is used as the welding gun position sensor in this system.When the welding gun position is obtained,an appropriate pitch angle can be obtained through the expert knowledge and the numeric reasoning capacity of the RBFNN.ARM is used as the controller to drive the welding gun pitch angle step motor in order to real-time adjust the pitch angle of the welding gun.The experiment result shows that the intelligent control system of welding gun pose using RBFNN and expert system is feasible and it enhances the welding quality.This system has wide application prospect.