薛龙, 焦向东, 蒋力培, 李明利. 球罐焊接机器人控制器及程序设计分析[J]. 机器人, 2002, 24(3): 248-251..
XUE Long, JIAO Xiang-dong, JANG Li-pei, LI Ming-li . ANALYSIS OF CONTROLLER AND PROGRAM DESIGN OF SPHERICAL TANK WELDING ROBOTS. ROBOT, 2002, 24(3): 248-251..
Abstract：The work principle of welding robot for spherical tank and its control system adopting S7-200 programmable controller are introduced in this paper. The elements of control system, hardware interface, and software program design are described in detail. The welding test and process survey show that the welding robot can make all-position and multi-layer welds with high tracing accuracy and reliable behavior, and it can be applied to practical production.