A Fuzzy Controller Design of Seam Tracking for Welding Robot

Yong Qiang Wu; Zhong Hu Yuan; Jia Han Wang

doi:10.4028/www.scientific.net/AMR.442.370

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 442A Fuzzy Controller Design of Seam Tracking for...

A Fuzzy Controller Design of Seam Tracking for Welding Robot

Abstract:

Kinematics model of welding robot is built in the paper. An improved fuzzy controller (Fuzzy-P) for welding robot mobile platform is designed based on analyzing seam tracking control system. The domain of fuzzy control should not be set too big in order to make system smooth, but the system must respond rapidly. P control can respond rapidly. When weld seam deviation is big,it adopts P control while seam deviation is small, it adopts Fuzzy-P control. The simulation result shows that the improved controller is effective for 45°broken line; the welding torch is able to track the welding seam well.

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Periodical:

Advanced Materials Research (Volume 442)

Pages:

370-374

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.442.370

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Online since:

January 2012

Authors:

Yong Qiang Wu, Zhong Hu Yuan, Jia Han Wang

Keywords:

Fuzzy-P Control, Seam Tracking, Welding Robot

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References

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