Weld Bead Tracking Control of a Magnetic Wheel Wall Climbing Robot Using a Laser-Vision System

Abstract

Magnetic wheel wall climbing robots are used in inspection of weld bead on large steel tanks. This research aims to develop the robot and tracking control algorithm to be more suitable for the inspection process. A laser-vision system was added on the robot to provide accurate weld bead detection. The simulation of the robot tracking along a weld bead by using nonlinear controller is demonstrated the effectiveness of the tracking control system.