Trends in Applied Sciences Research1819-35792151-7908Science International10.3923/tasr.2012.845.858ZakeriEhsan Bazargan-LariYousef EghtesadMohammad 102012710In 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.]]>Iranmanesh, M. and D. Armin Rahmati,200817078Manurung, Y.H.P., N. Muhammad, E. Haruman, S.K. Abas, G. Tham, K.M. Salleh and C.Y. Chau,201026371Hussein, A.R., N.A. Abdul-Jail and A.R. Abu Talib,201111348353Balasubramanian, V. and A.K. Lakshminarayanan,20083837853Cary, H.B. and S.C. Helzer,2005Pages: 316Pages: 316Ghazvinloo, H.R. and A.H. Raouf,201010658663Quinn, T.P., M. Szanto, I. Gilad and I. Shai,20057113119Linden, G., G. Lindskog and L. Nilsson,19801980pp: 17-117-6Smartt, H.B. and C.J. Einerson, 199372217229Nishar, D.V., J.L. Schiano, W.R. Perkins and R.A. Weber,199414412Einerson, C.J., H.B. Smartt, J.A. Johnson, P.L. Taylor and K.L. Moore,19921992pp: 853857Aendenroomer, A.J.R.,1996pp: 154pp: 154Henderson, D.E., P.V. Kokotovic, J.L. Schiano and D.S. Rhode,1993134953Hale, M.B. and D.E. Hardt,19921992pp: 10151020Phillips, C.L. and H.T. Nagle,19953rd Edn.,Pages: 685Pages: 685Johnson, J.A., N.M. Carlson, H.B. Smartt and D.E. Clark,1991709199Barnett, R.J., G.E. Cook, J.D. Brooks and A.M. Strauss, 19951995pp: 727732Chen, W.H. and B.A.Chin, 199069181185Fujimura, H., E. Ide and H. Inoue,1987184145Tomizuka, M.,19881988pp: 7178Thomsen, J.S.,20052005pp: 35683573Chi, Q., J. Zhang and Y. Zhang,20066362365Jalili-Kharaajoo, H., V. Gholampour, H. Ebrahimirad and A.E. Ashari,2003213131316Lima, E.J., G.C.F. Torres, I. Felizardo, F.A.R. Filho and A.Q. Bracarense,200532321325Steele, J.P.H., C. Mnich, C. Debrunner, T. Vincent and S. Liu, 200532350355Xu, P., G. Xu, X. Tang and S. Yao,2008377075Kim, D.W., J.S. Choi and B.O. Nnaji,199836957979Kim, J.S., Y.T. Son, H.S. Cho and K.I. Koh,19966141163Bazargan-Lari, Y., M. Eghtesad, B. Assadsangabi and R. Bazargan-Lari,2008745614569Bazargan-Lari, Y., M. Eghtesad and B. Assadsangabi,20082008pp: 3136Eghtesad, M., Y. Bazargan-Lari and B. Assadsangabi,20082008pp: 1483414839Hourfar, F. and K. Salahshoor,2009932193235Asseu, O., M. Koffi, Z. Yeo, X. Lin-Shi, M.A. Kouacou and T.J. Zoueu,200815969Schilling, R.J.,1990Pages: 425Pages: 425Soltanpour, M.R., M.M. Fateh and A.R. Ahmadi Fard,2008843974403De Wit, C.C., B. Siciliano and G. Bastin,19961st Edn.,Pages: 392Pages: 392Abdelrahman, M.,1998317571761