Title :
Seam Tracking Based on Fuzzy-Gaussian Neural Network for Mobile Welding Robot
Author :
Li Kai ; Zhang Ting ; Zhang Libin ; Xiao Shumei
Author_Institution :
Dept. of Mech. Eng., Hebei Univ. of Technol., Tianjin, China
Abstract :
To solve the seam tracking problem of the welding mobile robot, adaptive fuzzy controller and fuzzy-Gaussian neural network (FGNN) controller are designed to complete coordinately controlling of cross-slider and wheels. The fuzzy-neural control algorithm was described by applying a Gaussian function as an activation function, taking lateral slider position and the error between the robot moving direction and the seam direction as the inputs signals, and the adjusted angle for welding torch as the output, a specialized learning architecture was used so that membership function would be tuned in real time by applying the FGNN controller. The simulation results on MATLAB show that the proposed controller has excellent tracing accuracy (within 0.5mm) and can satisfy the requirement of practical welding project.
Keywords :
Gaussian processes; adaptive control; fuzzy control; learning systems; mobile robots; neurocontrollers; robotic welding; MATLAB; adaptive fuzzy controller; fuzzy-Gaussian neural network controller; lateral slider position; mobile welding robot; seam tracking; specialized learning architecture; welding torch; Adaptive control; Fuzzy control; Fuzzy neural networks; Mobile robots; Neural networks; Programmable control; Robot control; Robot kinematics; Welding; Wheels; Mobile welding robot; adaptive fuzzy control; coordinate control; fuzzy-gaussian neural network; seam tracking;
Conference_Titel :
Intelligent Networks and Intelligent Systems, 2009. ICINIS '09. Second International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-5557-7
Electronic_ISBN :
978-0-7695-3852-5
DOI :
10.1109/ICINIS.2009.73