Abstract
To solve the seam tracking problem of mobile welding robot, a new controller based on the dynamics of mobile welding robot was designed using the method of backstepping kinematics into dynamics. A self-turning fuzzy controller and a fuzzy-Gaussian neural network (FGNN) controller were designed to complete coordinately controlling of cross-slider and wheels. The fuzzy-neural control algorithm was described by applying the Gaussian function and back propagation (BP) learning rule was used to tune the membership function in real time by applying the FGNN controller. To make the tracking more quickly and smoothly, the neural network controller based on dynamic model was designed, which utilized self-learning and self-adaptive ability of the neural network to deal with the partial uncertainty and the disturbances of the parameters of the robot dynamic model and real-time compensate the dynamics coupling. The results show that the selected control input torques make the system globally and asymptotically stable based on the Lyapunov function selected out; the accuracy of the proposed controller tracing is within ±0.4 mm and can satisfy the requirements of practical welding project.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
MA Zhi-wei, ZHANG Hua, ZHENG Guo-yun. Structure design of mobile welding robot based on rotating arc sensor for bending weld [J]. Transactions of China Welding Institution, 2005, 26(11): 51–54. (in Chinese)
KAM B O, JEON Y B, KIM S B. Motion control of two wheeled welding Mobile Robot with seam tracking sensor [C]// Proceedings of EEE International Symposium on Industrial Electronics. Pusan: IEEE, 2001: 851–856.
JIANG Li-ping, JIAO Xiang-dong, LÜ Xue-qing. Key points of high efficient automatic welding technique for large scale spherical steel tank [J]. Chinese Journal of Mechanical Engineering, 2003, 39(8): 146–150. (in Chinese)
ZHANG Ke, LÜ Xue-qin, WU Yi-xiong. Algorithm for the entrance angle calculation of a welding mobile robot during auto-searching weld line [J]. Journal of Shanghai Jiaotong University, 2006, 39(6): 941–944. (in Chinese)
ZHANG Ke, WU Yi-xiong, JIN Xing, LÜ Xu-qing. Study on welding mobile robot with the function of auto-searching welding line [J]. China Welding, 2006, 15(1): 68–69.
REN W, SUN J S, BEARD R W. Nonlinear tracking control for nonholonomic mobile robots with input constraints: An experimental study [C]// Proceedings of the 2005 American Control Conference. Piscataway: IEEE, 2005: 4923–492.
SEONG J M, SUN J S, BEARD R W. Nonlinear tracking control of a welding robot based on adaptive backstepping method [C]// Proceedings of International Symposium on Electronics & Electronics Engineering. Vietnam: IEEE, 2005: 43–51.
GAO Yan-feng, ZHANG Hua, MAO Zhi-wei. Curved seam tracking control of a wheeled welding mobile robot [J]. Robot, 2007: 439–451. (in Chinese)
GAO Yan-feng, ZHANG Hua, MAO Zhi-wei. Coordinate control of broken-line welding seam tracking for wheeled robot [J]. Transactions of the China Welding Institution, 2008, 29(5): 33–37. (in Chinese)
WANG Hai-dong, ZHANG Hua, XU Jian-ning. Compromise control tactic for wheeled welding robot [J]. Transactions of the China Welding Institution, 2004, 25(3): 4–6. (in Chinese)
CHENG Shan-ben, LOU Ya-jun, ZHAO Song-bing. Fuzzy-neural network modeling and control of pool dynamic process in pulsed GTAW [J]. Acta Automatica Sinica, 2002, 28(1): 74–82.
ZHANG Ke, WU Yi-xiong, JIN Xing. Real-time seam tracking based on fuzzy-Gaussian neural network for welding mobile robot [J]. Transactions of China Welding Institution, 2004, 28(9): 17–22. (in Chinese)
CHWA D. Sliding mode tracking control of nonholonomic wheeled mobile robots in polar coordinates [J]. IEEE Transaction on Control System Technology, 2004, 12(4): 637–644.
XIAO Beng-xian, ZHANG Song-can. Tracking control of nonholonomic mobile robots based on dynamics model [J]. Journal of System Simulation, 2006, 18(5): 1263–1266. (in Chinese)
ZHANG Shuo-sheng, YU Da-tai. Robust following controller design of wheeled mobile manipulator [J]. Journal of University of Science and Technology Beijing, 2003, 25(1): 69–73.
TAN L C, TRONG H B. Sliding mode control of two-wheeled mobile robot for tracking smooth curved welding path [J]. KSME International Journal, 2004, 7(18): 1094–1106.
DUNG N M, DUY V H, PHUONG N T, KIM S B, OH M S. Two-wheeled welding mobile robot for tracking a smooth curved welding path using adaptive sliding-mode control technique [J]. International Journal of Control, Automation and Systems, 2007, 3(5): 283–294.
ZHANG Ke. Dynamic modeling and simulation for nonholonomic welding mobile robot [J]. Journal of Central South University of Technology, 2007, 14(5): 679–684.
LI Kai, ZHANG Ting. Seam tracking control of welding mobile robot based on dynamics model [C]// Proceedings of the Second International Conference on Modeling and Simulation. Manchester, 2009: 1403–1409.
ZHANG Ting, LI Kai, YANG Jing. Compromise control tactic for intelligent mobile welding robot [C]// Proceedings of the 9th International Conference on Electronic Measurement & Instruments. Beijing: IEEE, 2009: 836–839.
ZHANG Ting, LI Kai, DAI Shi-jie, XIAO Shu-mei. Research on seam tracking controller of mobile welding robot [C]// Proceedings of International Conference on Automation and Logistics. Shenyang: IEEE, 2009: 1042–1045.
Author information
Authors and Affiliations
Corresponding author
Additional information
Foundation item: Project(2007309) supported by the Scientific Research Project of Hebei Provincial Education Office, China; Project(2007AA04Z209) supported by the National High-Tech Research and Development Program of China
Rights and permissions
About this article
Cite this article
Zhang, T., Li, K. & Yang, J. Seam tracking control for mobile welding robot based on vision sensor. J. Cent. South Univ. Technol. 17, 1320–1326 (2010). https://doi.org/10.1007/s11771-010-0637-7
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11771-010-0637-7