The Cooperating Controling of Complex Welding Robotic System

Petri net theory was adopted to model multi-robotic welding system. According to the characteristic of welding system,software was designed to control the whole system by LAN.And a special welding technic experiment of aluminium AC pulse GTAW with robots was designed,too.The result of experiment illuminates that all the actions run coordinately and there is no abnormity.Welding arc works stably,welding technic is designed well and the process of welding is fluent.The research proves the model's correctness and it develops the application of Petri net theory in welding area.