Design of a Digital Following System of Welding Robot With a Visual Sensor

This paper proposes a variant of solving the problem of synthesis of a digital following system of the welding robot when using a visual sensor as the meter of the relative position of the torch and the parts being welded. A discrete mathematical model of the controlled plant was derived. Structural and parametric synthesis of the control algorithm was performed, which includes a state observer and a modal combined regulator of welding robot link position. The performance of the proposed digital following system of welding robot link was studied.