【作者】 何春尧；

【导师】 高洪明；

【作者基本信息】 哈尔滨工业大学 ， 材料加工工程， 2006， 硕士

【摘要】 随着人类活动范围的不断扩大,焊接技术被广泛地应用到了空间、水下以及核环境的一些装配、维修作业中。在这些极限环境中,用机器人代替人来执行焊接任务是必要的。由于目前相关技术的发展还不能满足机器人完全自主焊接的需要,有人参与的遥控焊接技术受到了重视。在智能化的遥控焊接系统中,需要对焊接质量进行动态的实时监控、对机器人的运行轨迹进行实时跟踪、对整个焊接过程进行远程监控,必然会引入或涉及到多个具有一定独立性、自主性并具有特定功能的资源。这些物理资源决定了机器人遥控焊接系统存在着内在的,包括时间、空间以及功能上的分散性。这就使得利用多智能体技术实现机器人遥控焊接系统中的协调控制具有其可能性、必然性并且具有一定的实践意义。本文从实际应用角度出发,介绍了实现遥控焊接的基本硬件结构,分析了遥控焊接的生产过程及控制方式,并应用多智能体技术对机器人遥控焊接系统进行了智能体结构建模。对机器人遥控焊接多智能体间的通信及协作机制进行了分析,采用点对点的消息通信方式,以KQML语言作为消息封装格式,KIF知识交换格式作为通信内容的知识描述;在分析了基于协商的协作方法、合同网协商协议的基础上,提出了按需设岗,竞争上岗的协作模型。构建了一套机器人遥控焊接多智能体系统,集成了机器人控制系统、遥操作系统、激光跟踪系统、力觉传感系统以及焊缝熔透控制系统。利用多智能体分散式控制模式,通过各个资源智能体实现对资源的管理、控制。最后,对激光跟踪传感智能体、力觉传感智能体、焊接机器人智能体以及操作者协同工作的遥示教过程进行了实验验证,实验表明基于多智能体技术的机器人遥控焊接系统具有较高的效率、精度和稳定性。更多还原

【Abstract】 With the expanding of human activities, welding technology is widely applied to some assembly and maintenance work underwater, in space and nuclear environment. It is necessary to use robot to execute weld task instead of human in the extreme environment. Now relevant technologies do not yet permit a totally autonomous remote welding operation, tele-robotic welding with the help of operators have been paid more attentions.In an intelligent tele- robotic welding system, it is greatly necessary to monitor the quality of seam and track the path of robot real-time, and monitor the processing of welding remotely. So physical device resources with certain independence and automation are imported. Because of these physical resources tele-robotic welding system possesses some inherent distributed characteristics. Thus it is possible and necessary to control tele- robotic welding system with the distributed multi-agent cooperation technology.In the viewpoint of application, the basic hardware configuration of tele-robotic welding system has been firstly introduced. And then on the basis of analyzing the production process and control mode of tele-robotic welding, the multi-agent model of tele-robotic welding system has been presented.The communication and cooperation mechanism of tele-robotic welding system were studied. Message transmitting in point to point, message encapsulating in KQML, message contents described in KIF were selected for information exchanges. By analyzing negotiation based coordination methods and Contract Net Protocol, the cooperation model of“station based on requirement, mount guard through competition”is presented.We have constructed a tele-robotic welding multi-agent system, which contains welding robot, tele-operation system, laser scanning welding seam tracking sensor, force sensor and seam molten pool monitoring system. Based on the distributed control characteristics of multi-agent system, all subsystems are monitored, managed and coordinated through corresponding resource agent.At last tele-teaching experiments by the cooperating of laser scanning welding seam tracking agent, force agent, welding robot agent and operator were fulfilled.更多还原