Mathematical modeling and simulation application for a wheeled mobile robot applied on pipe welding

A geometric model was built to represent the position relation of a wheeled mobile robot relative to a pipe.The relationship between the deviation of falling off for the robot and the curvature of the pipe was formulated quantitatively.Based on the relationship,a mathematical model was derived and a fuzzy control algorithm for the robot was developed.Simulations were carried out to confirm the dynamic index and the validity of the mathematical model of the fuzzy control algorithm for seam tracking of pipe welding.Experiments for pipe welding with the mobile robot were also carried out to verify the algorithm,and the results showed that the seam has a good quality with a preferable appearance of weld.