Abstract
This paper highlights a welding robot (WR) for its end effector to track a curved and straight welding line combined (CSWLC). The WR includes five actuators which use a DC motor as a power source. Two controllers are proposed to control the WR's end effector: a main controller and a servo controller. Firstly, based on WR's kinematic equations and its feedback errors using backstepping method the main controller is proposed to design the reference-inputs for the WR's actuators in order that the WR's end effector tracks the CSWLC. Secondly, based on the dynamic equation of WR's actuator, the servo controller is designed using an active disturbance rejection control method. Finally, a control system incorporated with the main controller and the servo controllers make the WR's end effector robustly track a CSWLC in the presence of the modeling uncertainty and disturbances during the welding process. The effectiveness of the proposed control system is proven through the simulation results.
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