Browse > Article

Modeling and Motion Control of Mobile Robot for Lattice Type Welding  

Jeon, Yang-Bae (Department of Mechanical Engineering, College, Pukyong National University)
Kim, Sang-Bong (Renault Samsung Motors, Co. Ltd 185, Shinho-dong, Kangseo-gu, Pusan 618-722)
Publication Information
Journal of Mechanical Science and Technology / v.16, no.1, 2002 , pp. 83-93 More about this Journal
Abstract
This paper presents a motion control method and its simulation results of a mobile robot for a lattice type welding. Its dynamic equation and motion control methods for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven for following straight line or curve. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider control. For the torch slider control, the proportional-integral-derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the corner with range of 90$^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and these results have proved that the mobile robot has enough ability to apply the lattice type welding line.
Keywords
Mobile robot; Motion Control; Nonholonomic Constraints; Decoupling Method;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
연도 인용수 순위
1 Sarkar, N., Yun, X. and Kumar, V., 1994, 'Control of Mechanical Systems With Rolling Constraints: Application to Dynamic Control of Mobile Robots,' The International Journal of Robotics Research, Vol. 13, No. 1, pp. 55-69   DOI   ScienceOn
2 Sastry Shankar, 1999, Nonlinear Systems Analysis, Stability, and Control, Springer-Verlag, New York, pp. 384-448
3 Kang, C. J., Jeon, Y. B., Kam, B. O., and Kim, S. B., 2000, 'Development of Continous/Intermittent Welding Mobile Robot,' Proceedings of the National Meeting of Autumn, The Korean Welding Society, Vol. 36, pp. 31-33   과학기술학회마을
4 Yamamoto, Y. and Yun, X., 1994, 'Coordinating Locomotion and Manipulation of a Mobile Manipulator,' IEEE Transactions on Automatic Control, Vol. 39, No. 6, pp. 1326-1332   DOI   ScienceOn
5 Fierro, R. and Lewis, F. L., 1995, 'Control of a Nonholonomic Mobile Robot: Backstepping Kinematics into Dynamics,' Proceedings of the 34th Conference on Decision & Control, pp. 3805-3810   DOI
6 Yamamoto, Y. and Yun, X., 1999, 'Unified Analysis on Mobility and Manipulability of Mobile Manipulators,' Proceedings of the 1999 IEEE International Conference on Robotics and Automatic, vol 2, pp. 1200-1206   DOI
7 Yun, X. and Yamamoto, Y., 1993, 'Internal Dynamics of a Wheeled Mobile Robot,' Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1288-1294   DOI
8 Campion, G., Bastine, G., and Andrea-Novel, B., 1996, 'Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots,' IEEE Transactions on Robotics and Automation, Vol. 12, No. 1, pp. 47-62   DOI   ScienceOn
9 Chung, J. H. and Velinsky, S. A., 1999, 'Robust Control of a Mobile Manipulator Dynamic Modeling Approach,' Proceedings of the 1999 American Control Conference, pp. 2435-2439   DOI
10 dAndrea-Novel, B., Bastine ,G., and Campion, G., 1991, 'Modelling and Control of Nonholonomic Wheeled Mobile Robots,' Proceedings of the 1991 IEEE International Conference on Robotics and Automation, pp. 1130-1135   DOI