Neuro-fuzzy control in intelligent welding robots 知能溶接ロボットにおけるニューロ・ファジィ制御
Access this Article
Search this Article
Author
Bibliographic Information
- Title
-
Neuro-fuzzy control in intelligent welding robots
- Other Title
-
知能溶接ロボットにおけるニューロ・ファジィ制御
- Author
-
山根, 敏
- Author(Another name)
-
ヤマネ, サトシ
- University
-
埼玉大学
- Types of degree
-
博士 (工学)
- Grant ID
-
乙第5号
- Degree year
-
1993-03-24
Note and Description
博士論文
Table of Contents
- CONTENTS / p4 (0006.jp2)
- CHAPTER 1.INTRODUCTION / p1 (0010.jp2)
- 1.1 Background and purpose of the studies on intelligent welding robots / p1 (0010.jp2)
- 1.2 Fuzzy control system and neural networks / p4 (0013.jp2)
- 1.3 Construction of the present thesis / p5 (0014.jp2)
- CHAPTER 2.SENSING AND CONTROLLING WELD POOL WITH FUZZY CONTROLLER DESIGNED FROM EXPERT KNOWLEDGE / p7 (0016.jp2)
- 2.1 Introduction / p7 (0016.jp2)
- 2.2 System of controlling wire feed rate / p8 (0017.jp2)
- 2.3 Fuzzy controller for wire feed rate control / p8 (0017.jp2)
- 2.4 Experiment result of wire feed rate control / p13 (0022.jp2)
- 2.5 System of sensing and controlling weld pool / p13 (0022.jp2)
- 2.6 Sensing of weld pool / p14 (0023.jp2)
- 2.7 Sensing of groove gap / p16 (0025.jp2)
- 2.8 Fuzzy controller designed from expert knowledge / p16 (0025.jp2)
- 2.9 Experimental result of weld pool control / p18 (0027.jp2)
- 2.10 Conclusion / p18 (0027.jp2)
- CHAPTER 3.WELD POOL CONTROL WITH FUZZY CONTROLLER DESIGNED FROM MODERN CONTROL THEORY / p30 (0039.jp2)
- 3.1 Introduction / p30 (0039.jp2)
- 3.2 Weld pool width control / p30 (0039.jp2)
- 3.3 Design of fuzzy controller and control experiments / p35 (0044.jp2)
- 3.4 Conclusion / p36 (0045.jp2)
- CHAPTER 4.TRACKING OF THE WELDING LINE WITH NEURAL NETWORK AND FUZZY CONTROLLER / p41 (0050.jp2)
- 4.1 Introduction / p41 (0050.jp2)
- 4.2 System of tracking welding line / p42 (0051.jp2)
- 4.3 Principle of sensor to detect arc length / p42 (0051.jp2)
- 4.4 Tracking method with arc sensor / p43 (0052.jp2)
- 4.5 Design of fuzzy controller / p45 (0054.jp2)
- 4.6 Construction of neural network to recognize the corner / p47 (0056.jp2)
- 4.7 Simulation result / p53 (0062.jp2)
- 4.8 Experimental result / p54 (0063.jp2)
- 4.9 Conclusion / p54 (0063.jp2)
- CHAPTER 5.SENSING AND TRACKING OF GROOVE GAP WITH CCD CAMERA AND TOUCH SENSOR / p64 (0073.jp2)
- 5.1 Introduction / p64 (0073.jp2)
- 5.2 System of tracking the groove gap / p65 (0074.jp2)
- 5.3 Sensing of the groove gap / p65 (0074.jp2)
- 5.4 Tracking method of the groove gap / p67 (0076.jp2)
- 5.5 Design of a fuzzy controller to trace the groove gap / p67 (0076.jp2)
- 5.6 Construction of a neural network to recognize the corner / p69 (0078.jp2)
- 5.7 Tracking experiment / p71 (0080.jp2)
- 5.8 Conclusion / p71 (0080.jp2)
- CHAPTER 6.SENSING AND CONTROLLING THE WELD POOL DEPTH WITH NEURO-FUZZY CONTROLLER / p80 (0089.jp2)
- 6.1 Introduction / p80 (0089.jp2)
- 6.2 Sensing of surface shape of the weld pool / p81 (0090.jp2)
- 6.3 Neural networks to describe the state variable / p83 (0092.jp2)
- 6.4 Neural networks to describe dynamical system of the weld pool depth / p86 (0095.jp2)
- 6.5 Design of fuzzy controllers to control the weld pool depth / p90 (0099.jp2)
- 6.6 Welding experiment with the neuro-fuzzy controller / p94 (0103.jp2)
- 6.7 Conclusions / p95 (0104.jp2)
- CHAPTER 7 APPLICATION OF FUZZY ADAPTIVE CONTROL TO WELDING ROBOT / p106 (0115.jp2)
- 7.1 Introduction / p106 (0115.jp2)
- 7.2 Control system / p106 (0115.jp2)
- 7.3 The parameter identification mechanism / p109 (0118.jp2)
- 7.4 Back bead control by fuzzy logic / p111 (0120.jp2)
- 7.5 Numerical simulations / p112 (0121.jp2)
- 7.6 Conclusion / p113 (0122.jp2)
- CHAPTER 8.CONCLUDING REMARKS / p119 (0128.jp2)
- ACKNOWLEDGMENT / p121 (0130.jp2)
- REFERENCES / p122 (0131.jp2)