期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2006
卷号：3
期号：3
DOI：10.5772/5733
语种：English
出版社：SAGE Publications
摘要：This paper highlights a welding robot (WR) for its end effector to track a rectangular welding line (RWL). The WR includes five actuators which use a DC motor as a power source. Two controllers are proposed to control the WR's end effector: a main controller and a servo controller. Firstly, based on WR's kinematic equations and its feedback errors using backstepping method the main controller is proposed to design the reference-inputs for the WR's actuators in order that the WR's end effector tracks the RWL. Secondly, based on the dynamic equation of WR's actuator, the servo controller is designed using an active disturbance rejection control method. Finally, a control system incorporated with the main controller and the servo controllers make the WR's end effector robustly track a RWL in the presence of the modeling uncertainty and disturbances during the welding process. In experiment, the main controller which has a function as a master of the control system links to the five servo controllers which have a function as a slave via I2C communication. The effectiveness of the proposed control system is proven through the simulation and experimental results.
关键词：A welding robot; backstepping method; active disturbance rejection control method; rectangular welding line (RWL); extended state observer (ESO)
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