Title :
Research on Control Technology of Trajectory Tracking for Robotic Welding
Author :
Wang, Kekuan ; Zhang, Jianhu ; Zhao, Bingjie ; Tang, Deyu
Author_Institution :
Key Lab. of Offshore Eng. CNPC Tianjin, Res. Inst. of Eng. Technol., Tianjin, China
Abstract :
A design method of seam tracking system according to planned welding track in advance was proposed based on teaching and playback and real-time control, and a variable parameter PID controller which adapt to the changing welding line form and the working condition was designed for the system, and the control model was established too. The control strategy was simulated in MATLAB environment, and the results proved the welding line could be tracked accurately under random interference signal, and the tracking trajectory of various kinds of welding had fine kinetic characteristic, and the requirements of the robot tracking welding line were reached.
Keywords :
control system synthesis; object tracking; position control; robotic welding; three-term control; PID controller; kinetic characteristic; matlab; random interference signal; real time control; robotic welding; seam tracking system; trajectory tracking; welding line; Analytical models; Joints; Robot sensing systems; Trajectory; Welding;
Conference_Titel :
Computational Intelligence and Software Engineering (CiSE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-5391-7
Electronic_ISBN :
978-1-4244-5392-4
DOI :
10.1109/CISE.2010.5676764
