| Abstract: | This paper presents a fuzzy logic controller(FLC)used for seam tracking of an arc_welding robot, and discusses the concepts and issues of the fuzzy logic which are pertinent to design and implementation of an intelligent seam tracking controller. The characters of the proposed FLC combined with an integrator have provided for highly salient features of robot joint position control which enables the welding torch to track the seam accurately. Compared with a conventional PID controller based upon the manipulator dynamics only, the FLC yields conspicuously improved performance. The effectiveness of the proposed fuzzy algorithms is demonstrated by the computer simulations and the welding experiments. |
