A Singleton Type-1 Fuzzy Logic Controller for On-Line Error Compensation During Robotic Welding

International journal of computers, communications and control

Ignacio Davila¹  Claudio Cubillos²  Gaston Lefranc³  Gerardo Maximiliano Mendez⁴  Roman Osorio-Comparan⁵  Ismael Lopez-Juarez⁶ 

[1] COMIMSA - Posgrado Interinstitucional enCiencia y Tecnologia (PICYT)Ciencia y Tecnologia No 790 Col. Saltillo 400,C.P. 25290 Saltillo, Coahuila. Mexico.;Escuela Ingenieria InformaticaPontificia Universidad Catolica de ValparaisoAvda Brasil 2950, Valparaíso, Chile 2430000;Escuela de Ingenieria ElectricaPontificia Universidad Catolica de ValparaisoAvda Brasil 2950, Valparaíso, Chile 2430000;Instituto Tecnologico de Nuevo Leon (ITNL)Av. Eloy Cavazos 2001 Col. Tolteca, C.P. 67175Guadalupe, Nuevo Leon, Mexico;Instituto de Investigaciones en MatematicasAplicadas y SistemasUniversidad Nacional Autonoma de Mexico(UNAM)Circuito Escolar S/N, Ciudad Universitaria,Coyoacán, C.P. 04510, Mexico City;Robotics and Advanced Manufacturing GroupCentro de Investigacion y de EstudiosAvanzados del IPN (CINVESTAV)Av. Ind. Metalurgica 1062, P. Ind.Saltillo-Ramos Arizpe, C.P. 25900 RamosArizpe, Coahuila, Mexico*Corresponding author:

关键词: Gas Metal Arc Welding (GMAW);    industrial robotics;    artificial vision;    robot path control;    fuzzy logic;   

DOI  :  10.15837/ijccc.2017.2.2877

学科分类：计算机科学（综合）

来源: Universitatea Agora

【 摘 要 】

During robot welding operations in the manufacturing industry there is a need to modify on-line the welding path due to a mismatch in the position of the components to be welded. These positioning errors are due to multiple factors such as ageing of the components in the conveyor system, clamp fixtures, disturbances, etc. Therefore, robot reprogramming is needed which requires a stop in the production line and consequently an increment in production costs. This article is an extension of [1]a and presents an alternative solution to this problem that involves the use of structured lighting using a low-cost laser beam, a CMOS camera and a Gaussian singleton fuzzy logic controller. To validate the proposed control system, a robotic cell was designed using an industrial KUKA KR16 robot for welding metallic plates. The method was evaluated experimentally under lateral and vertical positioning errors.

【 授权许可】

Free