摘要
随着工业自动化水平的不断提升，焊接机器人在现代制造中的应用日益广泛，但其路径规划与智能控制技术仍面临精度不足、适应性差等问题，难以满足复杂工件加工需求为此，本研究旨在开发一种高效的焊接机器人路径规划与智能控制系统，以提高焊接质量和生产效率研究通过融合机器视觉与深度学习算法，实现了对工件几何特征的精确识别与实时跟踪，并基于改进的A*算法设计了优化路径规划方法同时，引入自适应PID控制策略，结合传感器反馈数据，构建了具备高稳定性和强鲁棒性的智能控制系统实验结果表明，该系统能够显著提升焊接路径的规划精度和执行效率，相较于传统方法，路径偏差降低约30%，焊接一致性显著增强此外，系统具备良好的扩展性，可适用于多种复杂焊接场景本研究的创新点在于将人工智能技术与传统焊接工艺深度融合，为焊接机器人智能化发展提供了新思路，其成果对推动智能制造技术进步具有重要价值
关键词：焊接机器人；路径规划；智能控制；机器视觉；深度学习
Abstract
With the continuous improvement of industrial automation, the application of welding robots in modern manufacturing is becoming increasingly widespread. However, issues such as insufficient accuracy and poor adaptability in path planning and intelligent control technologies remain, making it difficult to meet the requirements of complex workpiece processing. To address these challenges, this study focuses on developing an efficient path planning and intelligent control system for welding robots to enhance welding quality and production efficiency. By integrating machine vision with deep learning algorithms, the research achieves precise recognition and real-time tracking of workpiece geometric features. An optimized path planning method based on an improved A* algorithm is also designed. Furthermore, an adaptive PID control strategy is introduced, combining sensor feedback data to construct an intelligent control system with high stability and robustness. Experimental results demonstrate that the system significantly improves the accuracy and execution efficiency of welding path planning, reducing path deviation by approximately 30% compared to traditional methods and markedly enhancing welding consistency. Additionally, the system exhibits excellent scalability, making it suitable for various complex welding scenarios. The innovation of this study lies in the deep integration of artificial intelligence technology with traditional welding processes, providing new insights into the intelligent development of welding robots. The outcomes of this research hold significant value for advancing smart manufacturing technologies.
Keywords：Welding Robot; Path Planning; Intelligent Control; Machine Vision; Deep Learning
目 录
摘要 I
Abstract II
一、绪论 1
(一) 焊接机器人路径规划的研究背景与意义 1
(二) 智能控制系统开发的现状与挑战 1
(三) 本文研究方法与技术路线 2
二、焊接机器人路径规划关键技术分析 2
(一) 路径规划算法的选择与优化 2
(二) 动态环境下的路径适应性研究 3
(三) 路径规划精度与效率的平衡策略 3
三、智能控制系统的设计与实现 4
(一) 控制系统架构设计与功能模块划分 4
(二) 基于传感器数据的智能决策机制 5
(三) 实时控制算法的开发与验证 5
四、系统集成与性能评估 6
(一) 焊接机器人系统的集成方案 6
(二) 性能测试与数据分析方法 6
(三) 实验结果与改进方向探讨 7
结 论 8
参考文献 9
