Control System Design, Simulation And Experiment Research For The Crawl Type Arc Welding Robot

Based on the developed crawl type arc-welding robot on site, this thesis focuses on the analyses and programming for its control system, and then the realization of the system. The main job is to renew the control system for the hardware, so that it can realize the smooth tracking function when welding on site. At first, analyzing and summarizing the used basic methods is necessary to find the existent faults and shortcomings. And then, get to the step on faults resolving and new methods promoting, and programming for soft and hard ware. At this step, you should be aware that different methods or resolve projects are entangled each other, their relationship is a kind of inherit, for that their realization is a process of step by step, and then the problem solving capability could focus on the credibility and precision of tracking be improved. Then, using one or two projects as a sample, it states the process how the hard and soft ware be carried out. For some important software function, there would be some particularly statements. The next is simulation, based on the different ideas mentioned above. In the simulation, a creditable kinematic quotation is very important. There we used a developed one and found out that it works so perfect that can match the results of our welding experiments in the lab and on site. Lots of figures have been provided to prove the capability of new methods, and at the same time, the quotation, which had never be used before, also is proved its precision in these contrasts. At last, it gets its statement that with the new promoted methods the tracking stabihty has been improved preciously and creditably. And the arc welding robot can do well of its job on multi-layer and multi-trace of large pieces welding on site.