Mixed Logical Dynamical Modeling Method of Welding Robot Motion Process

Aimed at the hybrid nature of welding robot motion process where continuity and discreteness coexist.Mixed logical dynamical(MLD) modeling framework was adopted to study the modeling of welding robot motion process,and the welding robot motion process MLD model was established.Welding experiment was conducted based on this model and the result shows the MLD model can give a more general description of the welding robot motion process.