Compromise Control Tactic For Intelligent Mobile Welding Robot

摘要：

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 fuzzygaussian 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+ 0.5mm) and can satisfy the requirement of practical welding project.

关键词： Mobile welding robot seam tracking fuzzy-gaussian neural network adaptive fuzzy control

作者: Zhang Ting Li Kai Yang Jing

作者单位: Research Institute of Robotics and Automation,Hebei University of Technology TianJin,300130,China School of Chemical Engineering,Hebei University of Technology TianJin,300130,China

会议类型: 国际会议

会议名称: 2009 9th International Conference on Electronic Measurement & Instruments(第九届电子测量与仪器国际会议 ICEMI2009)

会议地点: 北京

会议语种:英文

页码: 2964-2967

在线出版日期: 2009-08-16（万方平台首次上网日期，不代表论文的发表时间）