Dual DSP-based embedded visual feedback control system for mobile welding robots

For improving the dynamic quality of the arc-sensor moving welding robot system and improving the control accuracy, various mathematic modeling and simulating methods appear, which provide significative direction for the system designing、optimization and control.

Structure design of mobile welding robot based on rotating arc sensor for bending weld;

Mobile robot technology and seam tracking technology combines to form mobile welding robot.

Considering the poor welding condition,such as the space of lattice-shaped welding seam between the bottom of the cabin and inside of the deck is too small,a wheeled mobile welding robot was designed,then its inverse kinematics and the tracking simulation of welding seam was done by ADAMS software.

A mathematical model is built for the curved seam tracking problem of wheeled welding mobile robot used in shipbuilding and large spherical tank welding.

Firstly, the configuration of welding mobile robot is introduced, then algorithm and implementation of auto searching weld line is presented on the basis of kinematics model of the robot, at last trajectory planning among auto searching weld line is investigated in detail.

Geometrical relationship between sensor vector and welding seam for welding mobile robot was investigated by applying least squares estimator method,then real-time identified algorithm of heading angle was proposed for welding mobile robot.