Mixed Logical Dynamical Model for Robotic Welding System

Abstract

Robotic welding system is normally modeled either by continuous model or discrete model. However, robotic welding system is naturally hybrid. Hence, it will be more appropriate to model the robotic welding system from the view of hybrid system. In this paper, mixed logical dynamical (MLD) modeling framework is adopted to study the modeling of robotic welding system and the robotic welding system mixed logical dynamical model is established through out the analysis of hybrid characteristics of the robotic welding system. Finally, welding experiment is conducted based on this model and the result shows the MLD model can give a more general description of the robotic welding system.