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Trends in Applied Sciences Research
  Year: 2012 | Volume: 7 | Issue: 10 | Page No.: 845-858
DOI: 10.3923/tasr.2012.845.858
 
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Simultaneous Control of GMAW Process and SCARA Robot in Tracking a Circular Path via a Cascade Approach

Ehsan Zakeri, Yousef Bazargan-Lari and Mohammad Eghtesad

Abstract:
In this study, controlling the arc length via SCARA robot for welding a circular path will be studied. This task is divided into two distinct problems; controlling the arc length for a Gas Metal Arc Welding (GMAW) process and controlling the SCARA robot to track the specified welding path. Since these two subsystems are cooperating with each other, the knowledge of the desired configuration of the robot manipulator is necessary. Considering the droplet detached mass, welding path geometry, weld density and the inverse kinematics of the robot, the desired joint velocities could be calculated. In the present work, four algorithms are suggested for interconnection of these two subsystems and the control methodology for one of them is followed. In the present study, controlling the arc length is done using the MIMO Input-Output Feedback Linearization and for controlling, the SCARA robot computed torque method is utilized and the simulation results are presented.
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How to cite this article:

Ehsan Zakeri, Yousef Bazargan-Lari and Mohammad Eghtesad, 2012. Simultaneous Control of GMAW Process and SCARA Robot in Tracking a Circular Path via a Cascade Approach. Trends in Applied Sciences Research, 7: 845-858.

DOI: 10.3923/tasr.2012.845.858

URL: https://scialert.net/abstract/?doi=tasr.2012.845.858

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