Robust Control of Welding Robot for Tracking a Rectangular Welding Line

Industrial robot motion control for joint tracking in laser welding

Seam Tracking of Intelligent Arc Welding Robot

Intelligent welding robots obtain a good quality of the welding results. Research on automatic and intelligent control of Arc welding is an important means for ensuring weld quality, raising productivity, and improving labor conditions. Despite its widespread use in the various manufacturing industries, the full automation of the robotic welding has not yet been achieved partly because mathemat...

Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot

Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...

Seam Tracking for Laser Welding with an Industrial Robot

Because of their construction and flexibility, industrial robots are suitable to be used, with a laser source and an optical fiber, for laser welding of 3D products. However, the positioning accuracy of robots are insufficient for laser welding. Also the product and clamping tolerances are too wide for laser welding. These problems can be solved by applying sensors, which measure the location o...

Seam Tracking of Articulated Robot for Laser Welding Based on Visual Feedback Control

Laser welding has a quite high demand on trajectory accuracy of articulated robot. To improve dynamic trajectory accuracy of articulated robots for laser welding, a novel 3D seam tracking method is proposed based on stereo visual feedback control. The method constructs a visual feedback control system with two convergent cameras mounted at the end of industrial robot. A tool coordinate system i...