Weld Bead Tracking Control of a Magnetic Wheel Wall Climbing Robot Using a Laser-Vision System

Trinnachoke Eiammanussakul; Jirawut Taoprayoon; Viboon Sangveraphunsiri

doi:10.4028/www.scientific.net/AMM.619.219

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 619Weld Bead Tracking Control of a Magnetic Wheel...

Weld Bead Tracking Control of a Magnetic Wheel Wall Climbing Robot Using a Laser-Vision System

Abstract:

Magnetic wheel wall climbing robots are used in inspection of weld bead on large steel tanks. This research aims to develop the robot and tracking control algorithm to be more suitable for the inspection process. A laser-vision system was added on the robot to provide accurate weld bead detection. The simulation of the robot tracking along a weld bead by using nonlinear controller is demonstrated the effectiveness of the tracking control system.

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Periodical:

Applied Mechanics and Materials (Volume 619)

Pages:

219-223

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.619.219

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Online since:

August 2014

Authors:

Trinnachoke Eiammanussakul, Jirawut Taoprayoon, Viboon Sangveraphunsiri

Keywords:

Laser-Vision System, Magnetic Wheel Wall Climbing Robot, Weld Bead

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References

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