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工程设计学报
Chinese Journal of Engineering Design  2010, Vol. 17 Issue (5): 372-376    DOI:
    
Research on welding torch precision positioning control system for welding mobile robot using ultrasonic motors
WU  Xiao1, HUA  Liang1，2, GU  Ju-Ping1, WANG  Sheng-Feng1, ZHANG  Qi1, NI  Ling1
1.School of Electrical Engineering， Nantong University， Nantong 226019，  China；
2.College of Information Engineering， Zhejiang University of Technology， Hangzhou 310023， China
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Abstract  To achieve a precision positioning control of welding torch for welding mobile robot， this study put forward a novel method to design control system. The method realized a sensorless high-precision open loop control based on the adjustment of traveling-wave ultrasonic motor micro-step operating time when the welding torch followed the welding line. EDA technique and single chip processor were taken advantages of respectively. A combination of CPLD and single chip processor completed micor-step control to double traveling-wave ultrasonic motors. Experiment results show that the controller has features of high precision， efficiency， better maintainability and positions the welding torch with high accuracy without using high precision displacement sensor. The methods and results put forward have features of versatility and have broad prospect in application of  XY precision positioning table of two-dimension using traveling-wave ultrasonic motor．

Key words： welding mobile robot      ring-type traveling-wave ultrasonic motor      micro-step control      precision positioning      CPLD     
Published: 28 October 2010
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WU Xiao
HUA Liang
GU Ju-Ping
WANG Sheng-Feng
ZHANG Qi
NI Ling
Cite this article:

WU Xiao, HUA Liang, GU Ju-Ping, WANG Sheng-Feng, ZHANG Qi, NI Ling. Research on welding torch precision positioning control system for welding mobile robot using ultrasonic motors. Chinese Journal of Engineering Design, 2010, 17(5): 372-376.

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https://www.zjujournals.com/gcsjxb/     OR     https://www.zjujournals.com/gcsjxb/Y2010/V17/I5/372


基于超声波电机的移动焊接机器人焊枪精密定位控制系统研制

为了实现移动焊接机器人焊枪的精密定位控制，提出了焊枪跟踪控制时基于调整电机微步导通时间实现无位置传感器开环精密定位控制的控制系统设计方法．在控制系统设计中充分利用EDA和单片机技术各自的优点，采用CPLD和单片机相结合，实现了双行波超声波电机微步控制．实验证明该控制器可控精度高、可靠稳定、可维护性强，不需要高精度位移传感器就可控制焊枪达到很高的定位精度．研究所得的方法和结论具有较强的通用性，在基于环形行波超声波电机驱动的XY平面精密定位控制中具有普遍的应用意义．

关键词： 移动焊接机器人,  环形行波超声波电机,  微步控制,  精密定位,  CPLD 
[1] FENG Hao, HUA Liang, ZHANG Jian-Sheng, WANG Wan-Liang. Auto-detecting device of dial gauge based on ultrasonic motor[J]. Chinese Journal of Engineering Design, 2006, 13(3): 154-161.