GAO Yanfeng, XIAO Jianhua, ZHANG Hua. Ripple line fillet seams tracking control of a mobile robot for container welding[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2009, (9): 49-52.
Citation:
GAO Yanfeng, XIAO Jianhua, ZHANG Hua. Ripple line fillet seams tracking control of a mobile robot for container welding[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2009, (9): 49-52.
GAO Yanfeng, XIAO Jianhua, ZHANG Hua. Ripple line fillet seams tracking control of a mobile robot for container welding[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2009, (9): 49-52.
Citation:
GAO Yanfeng, XIAO Jianhua, ZHANG Hua. Ripple line fillet seams tracking control of a mobile robot for container welding[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2009, (9): 49-52.
School of Aviation & Mechanical Engineering, Nanchang Hangkong University, Nanchang 330031, China;Robot Research Institute, Nanchang University, Nanchang 330031, China
2.
School of Aviation & Mechanical Engineering, Nanchang Hangkong University, Nanchang 330031, China
3.
Robot Research Institute, Nanchang University, Nanchang 330031, China
For the container ripple line fillet seams tracking, it is necessary not only to control welding-torch moving along with the seams, but also to adjust inclination of the the torch perpendicular to the welding surface.In this paper, a wheeled mobile welding robot with a cross-slider manipulator that can extend and turn was developed.A rotational arc sensor was used to detect the welding-torch deviations and inclinations simultaneously.Through controlling three joints coordinate movement, welding seam tracking and welding-torch inclination adjusting were achieved.The kinematics model of the mobile robot is established, and with fuzzy control theory, a controller was designed.Through actual welding experiments, the validity of the proposed method is proved.