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Mathematical modeling and simulation application for a wheeled mobile robot applied on pipe welding

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【作者】 薛杨； 黄军芬； 黄继强； 张翔；

【Author】 Xue Yang;Huang Junfen;Huang Jiqiang;Zhang Xiang;College of Energy and Power Engineering,Xi’an Jiaotong University;Opto-Mechatronic Equipment Technology Beijing Area Major Laboratory,Beijing Institute of Petrochemical Technology;College of Mechanical and Electrical Engineering,Beijing University of Chemical Technology;

【机构】 College of Energy and Power Engineering,Xi’an Jiaotong University； Opto-Mechatronic Equipment Technology Beijing Area Major Laboratory,Beijing Institute of Petrochemical Technology； College of Mechanical and Electrical Engineering,Beijing University of Chemical Technology；

【摘要】 A geometric model was built to represent the position relation of a wheeled mobile robot relative to a pipe.The relationship between the deviation of falling off for the robot and the curvature of the pipe was formulated quantitatively.Based on the relationship,a mathematical model was derived and a fuzzy control algorithm for the robot was developed.Simulations were carried out to confirm the dynamic index and the validity of the mathematical model of the fuzzy control algorithm for seam tracking of pipe welding.Experiments for pipe welding with the mobile robot were also carried out to verify the algorithm,and the results showed that the seam has a good quality with a preferable appearance of weld.

【Abstract】 A geometric model was built to represent the position relation of a wheeled mobile robot relative to a pipe.The relationship between the deviation of falling off for the robot and the curvature of the pipe was formulated quantitatively.Based on the relationship,a mathematical model was derived and a fuzzy control algorithm for the robot was developed.Simulations were carried out to confirm the dynamic index and the validity of the mathematical model of the fuzzy control algorithm for seam tracking of pipe welding.Experiments for pipe welding with the mobile robot were also carried out to verify the algorithm,and the results showed that the seam has a good quality with a preferable appearance of weld.

【关键词】 wheeled mobile robot； pipe welding； deviation of falling off；
【Key words】 wheeled mobile robot； pipe welding； deviation of falling off；
【基金】 supported by National Natural Science Foundation of China(Grant No.51275051);the innovation and improvement plan of Beijing Education Commission(Grant No.TJSHG201510017023)
  • 【文献出处】 China Welding ,中国焊接(英文版) , 编辑部邮箱 ,2015年03期
  • 【分类号】TP242
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