ADAPTIVE SLIDING MODE CONTROL OF MOBILE MANIPULATOR WELDING SYSTEM FOR FLAT HULL BLOCK

Abstract

In this paper, an adaptive sliding mode control of mobile manipulator welding system for horizontal fillet joints is presented. The requirements of welding task are that the end effector must track along a welding trajectory with a constant velocity and must be inclined to the welding trajectory with a constant angle in the whole welding process. The mobile manipulator is divided into two subsystems such as the tree linked manipulator and the wheeled mobile platform. Two controllers are designed based on the decentralized motion method. The effectiveness of the proposed control system is proven through the simulation results.