Abstract
The development of a numerically controlled (NC) robotic positioner is of vital importance to the design of a welding flexible manufacturing center (WEMC) of an arc-welding robot. The control system has taken a 2-axis servo motor control card as its core and used a two-mode controller that was based on the Fuzzy and PID control method as its position controller. In the two-mode controller, the outputs of the Fuzzy and PID controllers acted on the object at the same time, but the weights of the Fuzzy and PID controllers differed in their value of error. This structure avoided concussion effectively when switching from one controller to the other controller. The two-mode controller provided precise control over the position of the welding positioner. This paper provides a detailed theoretical analysis of the constitution design and real-time control software and describes the design and fulfilment method of a multi-task real-time control software of highly precise and numerically controlled welding positioner, which has a good result in practice.
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References
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Shi, Y., Fan, D. Research of Control System of Robotic Welding Positioner. Weld World 49, 3–6 (2005). https://doi.org/10.1007/BF03266454
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DOI: https://doi.org/10.1007/BF03266454