Seam Tracking Control of Welding Robotic Manipulators Based on Adaptive Chattering-free Sliding-mode Control Technology

Youmin Hu, Jie Liu, Bo Wu, Ming-Feng Ge

2014

Abstract

A novel adaptive sliding mode control (ASMC) algorithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The controllers robustness is verified by the Lyapunov stability theory, and the analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than classic sliding mode control (SMC) algorithm.

References

  1. Cao, Y. C. and Ren, W. (2012). Distributed coordinated tracking with reduced interaction via a variable structure approach. IEEE Transaction on Automatic Control, 57(1):33-48.
  2. Chen, S. B. and Lv, N. (2014). Research evolution on intelligentized technologies for arc welding process. Jounal of Manufacturing Processes, 16:109-122.
  3. Craig, J. J. (1989). Introduction to Robotics. AddisonWisley, 2nd edition.
  4. Cruz, E. A. M. and Morris, A. S. (2006). Fuzzy-ga-based trajectory planner for robot manipulators sharing a common workspace. IEEE Transaction on Robotics, 22:613-624.
  5. Guo, Y. Z. and Woo, P. Y. (2003). Adaptive fuzzy sliding mode control for robotic manipulators. In 42nd IEEE Conference on Control, Maul, Hawaii, USA.
  6. Ruderman, M. (2014). Tracking control of motor drives using feedforward friction observer. IEEE Transactions on Industrial Electronics, 61(7):3727-3735.
  7. Slotine, J. E. and Li, W. (1987). On the adaptive control of robot manipulators. The international journal of robotics research, 6(3):49-59.
  8. Slotine, J. E. and Li, W. (1989). Composite adaptive control of robot manipulators. Automatica, 25:509-519.
  9. Slotine, J. E. and Li, W. (1991). Applied Nonlinear Control. The publishing company, Prentice Hall.
  10. Spong, M. W. and Vidyasagar, M. (2008). Robot dynamics and control. John Wiley & Sons.
  11. Yan, Z. and Wang, J. (2012). Model predictive control for tracking of underactuated vessels based on recurrent neural networks. IEEE Journal of Oceanic Engineering, 37(4):717-726.
  12. Figure 5: Position tracking output error.
Download


Paper Citation


in Harvard Style

Hu Y., Liu J., Wu B. and Ge M. (2014). Seam Tracking Control of Welding Robotic Manipulators Based on Adaptive Chattering-free Sliding-mode Control Technology . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 417-420. DOI: 10.5220/0005055104170420


in Bibtex Style

@conference{icinco14,
author={Youmin Hu and Jie Liu and Bo Wu and Ming-Feng Ge},
title={Seam Tracking Control of Welding Robotic Manipulators Based on Adaptive Chattering-free Sliding-mode Control Technology},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={417-420},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005055104170420},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Seam Tracking Control of Welding Robotic Manipulators Based on Adaptive Chattering-free Sliding-mode Control Technology
SN - 978-989-758-040-6
AU - Hu Y.
AU - Liu J.
AU - Wu B.
AU - Ge M.
PY - 2014
SP - 417
EP - 420
DO - 10.5220/0005055104170420