Robust Control of Welding Robot for Tracking a Rectangular Welding Line

Robust Control of Welding Robot for Tracking a Rectangular Welding Line

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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, bas...

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Bibliographic Details
Main Authors: Manh Dung Ngo, Nguyen Thanh Phuong, Vo Hoang Duy, Sang Bong Kim
Format: Article
Language:English
Published: SAGE Publishing 2008-11-01
Series:International Journal of Advanced Robotic Systems
Subjects:
A welding robot
backstepping method
active disturbance rejection control method
rectangular welding line (RWL)
extended state observer (ESO) Nomenclature: & & y
z : Linear velocities of vertical and horizontal sliders
respectively [ m / s] : Angular velocities of vertical and y
z 1
1 horizontal slider's motors
respectively [ rad / s] : Rotational angle of torch's direction with respect to y axis and its angular velocities [ rad ]
[ rad / s] 2
2 w [ rad / s] vr : Rotational angle and angular velocity of : Angular velocity of the weaving motors : Reference welding velocity [0.007 m / s] : Angle between projection of v r on the x axis tracking motor [ rad ]
[ rad / s] plan ( y
z ) and the z axis [ rad ] : Angle between projection of v r on the plan ( x
z ) and the z axis [ rad ] : General rotational angle of DC motor's rotor [ rad ] f () : Modeling uncertainty and unknown disturbance of the actuator.
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