Compromise control tactic for intelligent mobile welding robot

To solve the seam tracking problem of the welding mobile robot, a prototype of mobile welding robot with welding torch positioned at one side of welding robot is developed. Adaptive fuzzy controller and fuzzy-Gaussian neural network (FGNN) controller are designed to complete coordinately controlling of cross-slider and wheels. 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 plusmn 0.5 mm) and can satisfy the requirement of practical welding project.