Robust Control of Welding Robot for Tracking a Rectangular Welding Line

International Journal of Advanced Robotic Systems

关键词: A welding robot;    backstepping method;    active disturbance rejection control method;    rectangular welding line (RWL);    extended state observer (ESO);   

DOI  :  10.5772/5733

学科分类：自动化工程

来源: InTech

【 摘 要 】

This paper highlights a welding robot (WR) for its end effector to track a rectangular welding line (RWL). The WR includes five actuators which use a DC motor as a power source. Two controllers are proposed to control the WR's end effector: a main controller and a servo controller. Firstly, based on WR's kinematic equations and its feedback errors using backstepping method the main controller is proposed to design the reference-inputs for the WR's actuators in order that the WR's end effector tracks the RWL. Secondly, based on the dynamic equation of WR's actuator, the servo controller is designed using an active disturbance rejection control method. Finally, a control system incorporated with the main controller and the servo controllers make the WR's end effector robustly track a RWL in the presence of the modeling uncertainty and disturbances during the welding process. In experiment, the main controller which has a function as a master of the control system links to the five servo controllers which ha...

【 授权许可】

CC BY