Research on seam tracking controller of mobile welding robot

摘要

To solve the seam tracking problem of the welding mobile robot, a new controller based on the dynamics model of the mobile welding robot is designed. Self-turning fuzzy controller is designed to complete coordinately controlling of cross-slider and wheels, and exactly welding seam tracking was realized by use of the controller. To make the tracking more quickly and smoothly, it utilized self-learning and self-adaptive ability of the neural network to deal with the partial uncertainty and the disturbances of the parameters of the robot model, and on-line compensation dynamics coupling. It is proved that the selected control input torques make the system globally asymptotically stable based on the Lyapunov function selected out. Finally, the effectiveness of the controller is demonstrated by simulation results.