Application of fuzzy logic controller in the seam tracking of arc-welding robot

摘要

A fuzzy logic controller (FLC) used for the seam tracking of an arc welding robot is presented in this paper. The paper discusses the issues of the fuzzy logic which are pertinent to the design and implementation of an intelligent seam tracking controller. This controller is designed to operate in the uncertain environment of weld seam tracking. The characteristics of the proposed fuzzy controller combined with an integrator have provided for the salient feature of robot joint position control under uncertain disturbances. It enables an arc welding robot to track the weld seam accurately. The effectiveness of the proposed fuzzy algorithms is demonstrated by computer simulation. Compared with a conventional PID controller, the fuzzy controller yields conspicuously improved performance.