Seam tracking and welding speed control of mobile robot for lattice type welding

This paper presents the seam tracking and motion control of a mobile robot for lattice type welding. Its dynamic equation and motion control methods for welding speed and seam tracking are described. The motion control is realized in view of keeping constant welding speed and precise target line eve...

Full description

Saved in:
Bibliographic Details
Main Authors: Yang Bae Jeon, Byoung Oh Kam, Soon Sil Park, Sang Bong Kim
Format: Conference Proceeding
Language:English
Subjects:
Equations
Lattices
Mobile robots
Motion control
PD control
Pi control
Target tracking
Turning
Velocity control
Welding
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents the seam tracking and motion control of a mobile robot for lattice type welding. Its dynamic equation and motion control methods for welding speed and seam tracking are described. The motion control is realized in view of keeping constant welding speed and precise target line even though the robot is driven along the straight line or curve. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider control. For the torch slider control, the proportional integral derivative (PID) control method is designed. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the corner with range of 90/spl deg/ constrained to the welding speed. The experiment has been done to verify the effectiveness of the proposed controllers. These results are shown to fit well by the simulation results.
DOI:10.1109/ISIE.2001.931580