Báo Cáo Control of welding mobile robot using touch sensor for tracking smooth curved welding path

Control of welding mobile robot using touch sensor for tracking smooth curved welding path
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In this paper, a line tracking controller based on Liapunov function is studied and applied to a twowheeled
welding mobile robot for making it possible to track a reference smooth curve. The robot is
equipped with two controlled wheels and two casters for balancing. A touch sensor is installed on the
robot to help the robot tracking the reference path. The mobile robot moves along a reference smooth
curve and keep a constant velocity at welding point during welding process. The touch sensor is used
to track the distance from welding point to the reference path, as well as the head angle of robot.
Welding velocity is measured to ensure a constant velocity at welding point. The simulations have
been done to verify the effectiveness of the designed controller. The welding experiments are being
carried out.