Seam Tracking Control of Welding Mobile Robot Based-on Dynamics Model

On the seam tracking problem of the welding mobile robot during the industry production, only taking into account the kinemics models and absence of the dynamics characteristics are the problems for the majority of the existing methods, which result the bad tracking and big break on speed, and the seam quality is also influenced. To overcome those problems, a new control algorithm based on the dynamics and kinemics models of the welding mobile robot was proposed that is stepped dynamics and kinemics. To make the tracking more quickly and smoothly, it combined the integral algorithm Backstepping with the control algorithm of the monolayer nerve cell network as its control algorithm and utilized the self-learning neural network to deal with the partial uncertainty and the disturbances of the parameters of the robot model. Simulation results on MATLAB show the validity of the control algorithm.