In this study,a precise positioning and closed-loop motion control system for industrial robot welding platform were constructed. The improved extended Kalman filter based on the fusion of vision and laser sensor is used for state estimation,and MPC is used for trajectory tracking control. The system achieves a positioning accuracy of±0.05mm and a trajectory tracking accuracy of±0.2mm. The high-speed welding test verifies the excellent robustness of the designed control strategy,and the error is con-trolled within 0.32mm at the maximum speed of 240mm/s.
Robot weldingPrecise positioningModel predictive control
NETL
NSTL
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