Four Axis Welding Robot Control using Fuzzy Logic

Abstract

This paper presents a working and Simulation of a four-axis welding robot. The Robotic aspects have many applications in industries including welding. These tasks are described according to the end effector function. This work deals with handling a robotic arm or welding arm by a master manipulator where the end effector is used to hold. For the movement of the robotic arm, a fuzzy logic controller is used, and its performance is compared to that of a PID controller. Forward kinematics deal with the problem of finding end-effector pose (position + orientation) with given joints variables using two methods: Homogeneous transformation and Denavit-Hartenberg Representation. Actuation modes include Torque and Motion which are described through simulation showing effects on working of machine due to dynamics. The model has been done based on MATLAB/Simulink software.