FUZZY TASK-SPACE CONTROL OF A WELDING ROBOT

Mohammad M. Fateh

Keywords

Control transformation, fuzzy controller, robust control, SCARA robot, taskspace, welding robot

Abstract

This paper presents a novel robust control of welding robots for weld seam tracking in the task-space (TS). The proposed control law includes a robust Takagi–Sugeno fuzzy controller, and two modelbased control transformations named as feedback linearization and inverse kinematics. As the performance of control transformations is degraded due to the uncertainty, the fuzzy controller is used to compensate the effects of imperfect transformations. As a result, a high accuracy tracking performance in the workspace is provided in the presence of uncertainty. The role of fuzzy controller to improve the performance of control system is analysed. The proposed robust control law is simulated on a SCARA robot driven by permanent magnet dc motors for weld seam tracking. Simulation results show the effectiveness of the method.

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