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Sliding Mode Control of Spot Bead Welding Mobile Robot
충탄람(T. L. Chung),박순실(S. S. Park),부이트롱 휴(T. H. Bui),김상봉(S. B. Kim) 한국동력기계공학회 2004 한국동력기계공학회 학술대회 논문집 Vol.- No.-
In shipbuilding industry, it is needed to make uniform welding beads on the floor of ship. In this paper, a sliding mode controller is applied to a two-wheeled spot bead welding mobile robot (SWMR) to track a straight line and make spot bead of welding. The mobile robot, is considered in terms of dynamic model with known parameters in the presence of disturbances. To obtain the controller, two sliding surfaces of velocity tracking error and posture error are chosen, and the controller is extracted from the sliding condition to stabilize the sliding surface. The control system uses a camera sensor for measuring the errors. Also, the welding experiments are carried out to verify the proposed controller.
Development of Welding Robot for Welding a Rectangular Welding Line
뇨마안용(M. D. Ngo),충탄람(T. L. Chung),김학경(H. K. Kim),김상봉(S. B. Kim),오명석(M. S. Oh) 한국동력기계공학회 2004 한국동력기계공학회 학술대회 논문집 Vol.- No.-
In this paper, a welding robot to weld a 3D rectangular welding line (3D-RWL) is designed. A simple controller based on backstepping method is proposed to control the end effector of the welding robot tracking a 3D-RWL with a constant velocity. To obtain the controller, the welding robot is modeled in terms of kinematics model in Cartesian coordinate and the tracking errors are defined. The control system is stable in the sense of Lyapunov stability. In the experimental results, the welding robot is operated by 5 DC motors. So the control system is based on the integration of six PIC 16F877's including one for the master and five for the slaver. The master links to the five slaves via 12C communication. The slaves have a function as the servo DC motors. The effectiveness of the proposed controller is proven through simulation and experimental results.