Design of Predictive Fuzzy Controller for Curved Fillet Welding Seam Tracking Based on a Mobile Robot

2010 ◽  
Vol 46 (23) ◽  
pp. 23
Author(s):  
Yanfeng GAO
Keyword(s):  
Mobile Robot ◽  
Fuzzy Controller ◽  
Seam Tracking ◽  
Welding Seam ◽  
Fillet Welding

A Fuzzy Controller Design of Seam Tracking for Welding Robot

2012 ◽  
Vol 442 ◽  
pp. 370-374 ◽  
Author(s):  
Yong Qiang Wu ◽  
Zhong Hu Yuan ◽  
Jia Han Wang
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Tracking Control ◽  
Weld Seam ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Seam Tracking ◽  
Welding Robot ◽  
Welding Seam ◽  
Welding Torch

Kinematics model of welding robot is built in the paper. An improved fuzzy controller (Fuzzy-P) for welding robot mobile platform is designed based on analyzing seam tracking control system. The domain of fuzzy control should not be set too big in order to make system smooth, but the system must respond rapidly. P control can respond rapidly. When weld seam deviation is big,it adopts P control while seam deviation is small, it adopts Fuzzy-P control. The simulation result shows that the improved controller is effective for 45°broken line; the welding torch is able to track the welding seam well.

Study and Implement on Key Technologies of Ship-Welding Mobile Robot

2010 ◽  
Vol 44-47 ◽  
pp. 321-325
Author(s):  
Liang Hua ◽  
Lin Lin Lv ◽  
Ju Ping Gu ◽  
Yu Jian Qiang
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Structure Design ◽  
Seam Tracking ◽  
Precision Positioning ◽  
Positioning Control ◽  
Controlling System ◽  
Welding Torch ◽  
Driven System ◽  
And Control

The key technilogies of ship-welding mobile robot applied to ship-building in plane block production line were researched and realized. The mechanical structure design of the robot was completed. The motion-controlling system of of two-wheel differential driving mobile robot was developed. A novel precision positioning control method of welding torch using ultrasonic motors was putforward. The mechanism and control-driven system of precision positioning system for welding torch were completed. The platform of obstacle avoidance navigation system was designed and the strategies of seam tracking, trajectory and posture adjustment were preliminary studied. The methods and results put forward in the paper could act as the base of deep research on the theories and technologies of ship-welding mobile robot.

Robust welding seam tracking using image seam extraction

2012 ◽  
Vol 17 (2) ◽  
pp. 155-161 ◽  
Author(s):  
J S Chen ◽  
G D Su ◽  
S B Xiang
Keyword(s):  
Seam Tracking ◽  
Welding Seam

Three Dimension Curve Welding Seam Modeling for Seam Tracking

2008 ◽  
Vol 41 (2) ◽  
pp. 9186-9191 ◽  
Author(s):  
Haiyong Chen ◽  
De Xu ◽  
Hong Wang
Keyword(s):  
Seam Tracking ◽  
Three Dimension ◽  
Welding Seam

Fuzzy Logic Controller for Obstacle Avoidance of Mobile Robot

2019 ◽  
Vol 20 (1) ◽  
pp. 51-62
Author(s):  
Rajmeet Singh ◽  
Tarun Kumar Bera
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Dynamic Model ◽  
Obstacle Avoidance ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
Bond Graph ◽  
Membership Functions ◽  
Current Position ◽  
Dc Motors

AbstractThis work describes design and implementation of a navigation and obstacle avoidance controller using fuzzy logic for four-wheel mobile robot. The main contribution of this paper can be summarized in the fact that single fuzzy logic controller can be used for navigation as well as obstacle avoidance (static, dynamic and both) for dynamic model of four-wheel mobile robot. The bond graph is used to develop the dynamic model of mobile robot and then it is converted into SIMULINK block by using ‘S-function’ directly from SYMBOLS Shakti bond graph software library. The four-wheel mobile robot used in this work is equipped with DC motors, three ultrasonic sensors to measure the distance from the obstacles and optical encoders to provide the current position and speed. The three input membership functions (distance from target, angle and distance from obstacles) and two output membership functions (left wheel voltage and right wheel voltage) are considered in fuzzy logic controller. One hundred and sixty-two sets of rules are considered for motion control of the mobile robot. The different case studies are considered and are simulated using MATLAB-SIMULINK software platform to evaluate the performance of the controller. Simulation results show the performances of the navigation and obstacle avoidance fuzzy controller in terms of minimum travelled path for various cases.

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