Application of sliding mode control to spot bead welding mobile robot using camera sensor
Application of sliding mode control to spot bead welding mobile robot using camera sensor
- Neue Suche nach: Chung, Tan Lam
- Neue Suche nach: Park, Soon Sil
- Neue Suche nach: Bui, Trong Hieu
- Neue Suche nach: Kim, Sang Bong
- Neue Suche nach: Chung, Tan Lam
- Neue Suche nach: Park, Soon Sil
- Neue Suche nach: Bui, Trong Hieu
- Neue Suche nach: Kim, Sang Bong
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
Dokumentinformationen
Application of sliding mode control to spot bead welding mobile robot using camera sensor
Einsatz der Sliding-Mode-Regelung für einen mobilen Punktwulstschweißroboter mit Kamerasensor
2004
10 Seiten, 20 Bilder, 6 Quellen
Aufsatz (Konferenz)
Englisch
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