Complex forms trajectory tracking in robotized welding

Abstract

Actually, in the majority of mechanical systems such as industrial robots, mobile robots with embarked structure, etc… the end-effector mass widely exceeds that of the supported load, and lot of works do not take it into account in their algorithms. These systems must be designed based on dynamic model; moreover the synthesis of the algorithm of an autonomous manipulator must be accomplished by taking into account nonlinearity and complexity of its dynamic model, this is in order to increase the control effectiveness. Currently, tasks involving a high precision welding of complex forms with high characteristics are very required in industry in general. This paper introduces the modeling of the end-effector movement equations to allow a tracking of welding cords with complex forms in the acceptable working zone