Research On The Control System Of Wheeled Mobile Welding Robot

According to the construction and the control requirements, kinematic model and dynamic model are designed. Time optimal algorithm with dynamic constraints and a fuzzy logic control algorithm is used in seam tracking process. An control system circuit based on DSP for welding robot is designed.Kinematic model combining the nonholonomic wheeled mobile robot and joint robot is designed.And space track curve of the Terminal equipment is Simulated with MatLab.By using the time optimal algorithm with dynamic constraints to the seam tracking system, the mechanical properties and stability are greatly improved. While the fuzzy logic seam tracking controllor is designed.The error and the change of the error are used as input of the fuzzy logic control algorithm; it outputs the controlling quantity of the left-right orientation step motor. Seam tracking control experiments show that the system with fuzzy algorithm can implement the smooth regulation of tracking process.The circuit board of the robot control system based on LF2407A DSP chip is designed, and the hardware and software are tested. The control subroutines are programed and tested.