Mixed logic dynamic model for the hybrid characteristics of the dual robotic welding process and system

The welding unit is an indispensable part of the welding flexible manufacturing system (WFMS). The local welding units welding system is a typical hybrid systems, not only continuous variables involved, but also discrete variables involved, and there are many uncertainties in the welding process. Mixed logical dynamical (MLD) approach is a more effective tool for hybrid system, and more suitable for intelligent robotic welding process, therefore MLD can effectively predict and control the state of robot motion and welding process. The purpose of this paper is to apply the MLD to model the dual robot motion process and welding power supply. The stability and reliability of the MLD architecture indicates that it is adapted to dual robotic welding process.