This invention is an invention for the algorithm for position control and high speed welding line track with an arc sensor of a welding robot to be applied to the grid-shaped welding line. Then, the equation describes the dynamics and attitude control algorithm of a welding robot for welding speed and weld line tracking. The welding robot posture control has been designed from the viewpoint that the robot can weld speeds when welding the weld line of the song straight or square is kept constant, and perform an accurate seam tracking. Dynamics of the welding robot is modeled to claim (Lagrange) Lagrangian under genomic (nonholonomic) constraint equations in a non-alone base, shown as state equations. Attitude control of the welding robot was controlled by dividing the straight running, driving, a ', the torch slider control. Torch slider control has been introduced the concept of decoupling (decoupling) method between We used the PID control method, the linear drive control output,, a 'running is the angular velocity equivalent obtain a welding speed of each point on the track angled weld line Therefore, we designed an algorithm to control a welding robot. In addition, the weld line tracking algorithm arc generator of high-speed rotating arc sensor new tracking algorithm is applied to the welding line tracing control algorithm can be applied to a microprocessor not sensitive to changes in the form and welding conditions of the joint using a rotating high speed It was designed.
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