Research on Control Algorithm for Mobile Welding Robot Using Kinematics Oscillator

Xian Chun Meng; Kai Li; Dong Mei Zhang; Jian Hu Zuo; Yan Jun Li

doi:10.4028/www.scientific.net/AMM.303-306.1678

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 303-306Research on Control Algorithm for Mobile Welding...

Research on Control Algorithm for Mobile Welding Robot Using Kinematics Oscillator

Abstract:

The dynamics equation of mobile welding robot is established. In controller design of the mobile welding robot, the non-holonomic constraint is introduced that limits the size of the transverse sliding and avoid the coordinates of the instantaneous center of rotation is larger than the wheelbase, to ensure the robot’s stability. Based on kinematics oscillator, the effect of uncertain dynamic parameters is considered. According to the Lyapunov stability criterion, the control algorithm is deduced. Simulating results by MATLAB software shows that the design of the control algorithm is stable, convergent and effective.

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Periodical:

Applied Mechanics and Materials (Volumes 303-306)

Pages:

1678-1684

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.303-306.1678

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Online since:

February 2013

Authors:

Xian Chun Meng, Kai Li, Dong Mei Zhang, Jian Hu Zuo, Yan Jun Li

Keywords:

Dynamic, Lyapunov, Mobile Welding Robot, Oscillator

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