Control method for large-scale complicated curved surface steel plate water-fire processing intelligent robot
Title：
Control method for large-scale complicated curved surface steel plate water-fire processing intelligent robot
Application Number：
 200310115521
Application Date：
 2003/11/28
Announcement Date：
 2004/11/10
Pub. Date：
Publication Number：
 1544177
Announcement Number：
Grant Date：
Granted Pub. Date：
ApplicationType：
 Invention
State/Country：
 11[China|beijing]
IPC：
 B21D 26/00B25J 13/00
Applicant(s)：
 Tsinghua University
Inventor(s)：
 Yang Zehong, Zhao Yannan, Zuo Jinyu
Key Words：
 curved surface, steel plate, water-fire processing, intelligent robot, Control method
Abstract：
 The invention relates to a method of controlling the intelligent robot making water-fire processing on the large-scale complex curve steel plate; including: determining the coordinate values of four locating points and determining the position of the steel plate in the robot reference frame according these values; measuring the whole plate to obtain the curve shape; comparing the current curve shape with the target shape, judging if they have fitted each other: if yes, ending the current processing of steel plate; otherwise firstly performing local measurement and calculation to search the actual position of the processing flame way, and then controlling manipulator to walk at uniform speed in a given time and along the set track and at the same time controlling the processing device for processing, and after finishing this processing, returning to measuring the whole plate and continuing processing. It can control the robot to complete the water-fire processing of the large-scale complex curve steel plate, able to largely increasing producing speed, shortening ship constructing cycle, heightening the ship quality and reduces ship making cost.
Claim：
Priority：
PCT：
LegalStatus：
 2006-8-23Date of deemed withdrawal

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2008-4-17
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