本篇論文的主題是在研究一自走式自動銲接系統之設計，應用在特殊場所之銲接工作上。此一銲接系統包括了五軸機械臂、銲接機、自走車及銲接控制器。本研究使用五軸旋轉型機械臂，機械臂末端架設一銲接用之自動夾具，此夾具是用來夾持銲接電極以進行特殊場所之銲接工作。 首先我們使用PC-Based控制器控制SCORBOT-ER VII機械臂，此控制器包括了PC、電流放大器、A/D轉換器、D/A轉換器及數位I/O卡。然後使用HCTL-2020解碼器讀取機械臂各軸之位置資料。利用電流感測器讀取銲接電流回饋訊號至銲接控制器以控制機械臂進行銲接工作，由反運動學之解求得機械臂各軸之運動路徑規劃。最後整合馬達控制器、電流控制器及機械臂之路徑規劃成為自動銲接系統。 The objective of this study is to develop an automatic mobile robot to substitute the manual operation for welding under hazardous environments. The welding system includes a five-axis robot, welding machine, a car, and welding controller. The robot whose end effector holds a weld electrode is mounted on an automatic mobile car to enter the dangerous region for operation. First, we use a PC-Based controller to control SCORBOT-ER VII robot. Then we use a 2020 decoder circuit to decode the angel signal from encoder. Using current sensor to get welding current feedback signal we can control the robot to welding. The controller is including a PC, current amplifier, A/D converter, D/A converter, and digital I/O. We can get the joint angle by solving inverse manipulator kinematics equations. Finally, we design a welding controller to control the auto-welding system.
