Open AccessModel Reference Control Applied on the Velocity Tracking of a Welding Robot
Author(s) -
Andreyna Sárila Ramos Ferreira,
Débora Debiaze de Paula,
Paulo Jefferson Dias de Oliveira Evald,
Rodrigo Zelir Azzolin
Publication year - 2021
Publication title -
revista mundi engenharia, tecnologia e gestão
Language(s) - English
Resource type - Journals
ISSN - 2525-4782
DOI - 10.21575/25254782rmetg2021vol6n41464
Subject(s) - robot , robot welding , automation , context (archaeology) , controller (irrigation) , robotics , control engineering , process (computing) , tracking (education) , control theory (sociology) , robot control , computer science , displacement (psychology) , artificial intelligence , engineering , control (management) , simulation , mobile robot , mechanical engineering , geography , psychology , agronomy , pedagogy , psychotherapist , biology , operating system , archaeology
Robotics has been expanding over last decades, employed mainly to the activities that are most harmful to human beings. Considering that welding is one of the most risky activities in industries, studies and researches in the process automation are quite important. In this context, this work contributes to the control of the velocity tracking of the displacement of a linear welding robot. The mathematical modelling of the robot is presented, and the chosen control technique is Model Reference Control, which allows project controller based on the desired behaviour for the robot. To corroborate controller effectiveness, simulation and experimental results are presented and discussed, proving that proposed technique is adequate to control the robot velocity.