Model Reference Control Applied on the Velocity Tracking of a Welding Robot

Andreyna Sárila Ramos Ferreira, Débora Debiaze de Paula, Paulo Jefferson Dias de Oliveira Evald, Rodrigo Zelir Azzolin

Resumo


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.


Palavras-chave


Model Reference Controller; Welding Robot; Velocity Control; Dynamic System.

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DOI: http://dx.doi.org/10.21575/25254782rmetg2021vol6n41464

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Direitos autorais 2021 Andreyna Sárila Ramos Ferreira

Revista Mundi Engenharia, Tecnologia e Gestão ISSN 2525-4782

Qualis: B4 - Interdisciplinar, B5 - Geografia, B5 - Administração Pública e de Empresas, Ciências Contábeis e Turismo, B5 - Comunicação e Informação, B5 - Engenharias III