A design method of seam tracking system according to planned welding track in advance was proposed based on teaching and playback and real-time control, and a variable parameter PID controller which adapt to the changing welding line form and the working condition was designed for the system, and the control model was established too. The control strategy was simulated in MATLAB environment, and the results proved the welding line could be tracked accurately under random interference signal, and the tracking trajectory of various kinds of welding had fine kinetic characteristic, and the requirements of the robot tracking welding line were reached.
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