A new kind of 18 degrees of freedom gantry robot with multiple manipulators could be used to complete the double-sided laser beam welding of stringer–skin T-shape structure for aircraft skin. The coordination control combined with error allocation model analysis is proposed to improve the stability and accuracy of the robot in this article. Firstly, the error model of the stringer–skin T-shape structure welding robot end effectors is analyzed. The score of the robot end effectors position error caused by each joint is obtained. Secondly, according to the path-points transformation matrix of the local coordinate system relative to the base coordinate system, the desired position of stringer–skin T-shape structure welding robot end effectors is calculated to be the input of the control model aiming at the dual-beam laser welding process. Then, the double closed-loop control strategy is proposed for stringer–skin T-shape structure welding robot coordinated motion on the basis of the end error analysis results and proportional-integralderivative (PID) method. Finally, ADAMS and MATLAB are used to establish a co-simulation platform to verify the effectiveness of the proposed coordination control strategy.

一种新型18自由度多机械手龙门机器人可完成飞机蒙皮纵梁-蒙皮T型结构双面激光束焊接。本文提出了结合误差分配模型分析的协调控制，以提高机器人的稳定性和准确性。首先分析了纵梁-蒙皮T型结构焊接机器人末端执行器的误差模型。得到各关节引起的机器人末端执行器位置误差的得分。其次，根据局部坐标系相对于基坐标系的路径点变换矩阵，计算出纵梁-蒙皮T型结构焊接机器人末端执行器的期望位置，作为控制模型的输入，针对双光束激光焊接工艺。然后，基于末端误差分析结果和比例积分微分（PID）方法，提出了纵梁-蒙皮T型结构焊接机器人协调运动的双闭环控制策略。最后，利用 ADAMS 和 MATLAB 建立协同仿真平台，验证所提协调控制策略的有效性。