Báo Cáo Study on tracking control of welding mobile robot using camera - straight welding path application

ABSTRACT
​

This paper a controller based on Liapunov function is studied and applied to a two-wheeled welding
mobile robot for tracking a reference straight line. The robot is equipped with two controlled wheels
and two casters for balancing. A camera is fixed on the side of robot to help the robot tracking the
reference line. A rotary encoder is used to measure welding velocity. The mobile robot moves along a
reference straight line and keep a constant velocity at welding point during welding process. Reference
line is a line offseted from welding path with offset distance p . The camera is used to track the
distance from camera center point to reference line, 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.