Welding Force Control of a Servo Gun

Robot Path Generation Method for a Welding System Based on Pseudo Stereo Visual Servo Control

A path generation method for robot-based welding systems is proposed. The method that is a modification of the method “teaching by showing” is supported by the recently developed pseudo stereovision system (PSVS). A path is generated by means of the target-object (TOB), PSVS, and the pseudo stereo visual servo control scheme proposed. A part of the new software application, called humanPT, perm...

Intelligent Control of Welding Gun Pose for Pipeline Welding Robot Based on Improved Radial Basis Function Network and Expert System

Since the control system of the welding gun pose in whole‐position welding is complicated and nonlinear, an intelligent control system of welding gun pose for a pipeline welding robot based on an improved radial basis function neural network (IRBFNN) and expert system (ES) is presented in this paper. The structure of the IRBFNN is constructed and the improved genetic algorithm is a...

Combined Temperature and Force Control for Robotic Friction Stir Welding

Welding Gun Inclination Detection and Curved Fillet Weld Joint Tracking

It is important to adjust the welding gun's inclination during automatic curved-joint tracking of arc welding. In this paper, a novel method is proposed to detect the deviation and inclination of the welding gun based on the arc currents acquired by a high-speed rotational arc sensor. It uses a least-squares method to fit the arc currents to a plane in three dimensions. The deviation and inclin...

Velocity Control of Electro Hydraulic Servo System by Tracking Method

This paper proposes an efficient Tracking method for velocity control of an electro-hydraulic servo system (EHSS) in the presence of flow nonlinearities and internal friction. The tracking method controller is a kind of feedback error learning structure. In the proposed method, the Feedback Error Learning (FEL) algorithm is used to control the velocity. There is no need to compute the system ja...