In shipbuilding industry, it is needed to make uniform welding beads on the floor of ship. In this paper, a sliding mode controller is applied to a two-wheeled spot bead welding mobile robot (SWMR) to track a straight line and make spot bead of welding. The mobile robot is considered in terms of dynamic model with known parameters in the presence of disturbances. To obtain the controller, two sliding surfaces of velocity tracking error and posture error are chosen, and the controller is extracted from the sliding condition to stabilize the sliding surface. The control system uses a camera sensor for measuring the errors. Also, the welding experiments are carried out to verify the proposed controller


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Application of sliding mode control to spot bead welding mobile robot using camera sensor


    Additional title:

    Einsatz der Sliding-Mode-Regelung für einen mobilen Punktwulstschweißroboter mit Kamerasensor


    Contributors:


    Publication date :

    2004


    Size :

    10 Seiten, 20 Bilder, 6 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Mobile Robot Navigation Using Planning Algorithm and Sliding Mode Control in a Cluttered Environment

    Reguii, Islem / Hassani, Imen / Rekik, Chokri | BASE | 2022

    Free access

    MOBILE WELDING ROBOT

    KIM DAE YOUNG / ROH CHI YOUNG | European Patent Office | 2024

    Free access

    Implementation of Sliding Mode Control for SCARA Robot

    Lee, M. C. / Lee, J. M. / Son, K. et al. | British Library Conference Proceedings | 1995


    Sliding Mode Control for Trajectory Tracking of a Non-holonomic Mobile Robot using Adaptive Neural Networks

    Rossomando, Francisco Guido / Soria, Carlos Miguel / Carelli Albarracin, Ricardo Oscar | BASE

    Free access