Study on the neural network control for seam tracking of arc-welding robot

被引：0
|
作者：
Xiangdong, Gao
Shisheng, Huang
Yinglin, Yu
机构：
来源：
| 2000年 / Chin Mech Eng Soc, Beijing卷 / 36期
关键词：
Controllability - Electric arc welding - Motion control - Motion planning - Neural networks - Robustness (control systems) - Seam welding;
D O I：
10.3901/jme.2000.05.007
中图分类号：
学科分类号：
摘要：
The application of neural network technique in the seam tracking process of arc-welding robot is studied. A neural network controller to modify the reference Cartesian trajectory for the robotic seam tracking is presented through the compensation of the neural network for the Cartesian trajectory. Compared with the traditional computed torque control method, the proposed neural network controller yields salient controlling characteristics and strong robustness. The precision of seam tracking is conspicuously promoted.
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