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격자형 용접선 추적을 위한 용접 이동로봇의 모델링 및 제어
이근유(Gun You Lee),서진호(Jin Ho Suh),오명석(Myung Suk Oh),김상봉(Sang Bong Kim) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.4
This paper presents the motion control of a mobile robot with are sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or corner. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. for the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the corner with range of 90 constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough obility to apply the lattice type welding line.
고속회전 아크센서를 이용한 필렛 용접선 추적에 관한 연구
이원기(Won-Ki Lee),이근유(Gun-You Lee),오명석(Myung-Seok Oh),김상봉(Sang-Bong Kim) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.4
In this paper, a high speed rotating arc sensor for automatic fillet welding is introduced. In order to track the welding seam, The high speed rotating arc sensor is used. The welding tip of a high speed rotating arc sensor rotates about 3000 rpm using DC Motor. The rotating torch is driven by gear between welding torch body and wire guide. The welding current is measured by using the current sensor and rotating position sensor. To realize the welding current is measured by using the current sensor and rotating position sensor. To realize the welding seam tracking algorithm with accuracy, a software filter algorithm using the moving average method is applied to the measured welding current in the microprocessor. The welding mobile robot with two wheels and two sliders is developed for fillet welding. The welding mobile robot can control its traveling direction and turn itself around the corner. the effectiveness is proven through the experimental results conducted with varied fillet tracking patterns.