Development of Mobile Robot for Welding of Lattice Type - Mobile Speed Control and Seam Tracking Control -

격자형 용접 주행로봇의 개발 ( 제1보 : 주행제어 및 용접선 추적제어 )

It is difficult to realize automation of welding of lattice type in shipbuilding and assembly processing of shipbuilding and steel structures. Usually, the welding parts of lattice type are welded manually. So there are limitations in continuous and stable quality controls and in increase in productivity because the welding quality depends on worker's skill. That is, automation in welding is necessary. This paper shows shows the development results of a moblie robot for welding of lattice type. Specially. algorithms for its mobile speed and seam tracking controls are introduced.