Mathematical model of position control by electric arc sensing in robotic MIG welding

Summary

This work proposes a model for controlling the relative position of welding torch and joint in robotic MIG welding with spray transfer mode. The algorithm developed simulates electric arc scanning and solves a group of non‐linear differential equations of the first order.

Any height and position variations from pre‐programmed manipulator positions are readily detected by monitoring of welding current and voltage signals, enabling precise realignment to be carried out.