A Fuzzy Controller Design of Seam Tracking for Welding Robot

摘要

Kinematics model of welding robot is built in the paper. An improved fuzzy controller (Fuzzy-P) for welding robot mobile platform is designed based on analyzing seam tracking control system. The domain of fuzzy control should not be set too big in order to make system smooth, but the system must respond rapidly. P control can respond rapidly. When weld seam deviation is big,it adopts P control while seam deviation is small, it adopts Fuzzy-P control. The simulation result shows that the improved controller is effective for 45°broken line; the welding torch is able to track the welding seam well.