Achieve to desired weld bead geometry for the vessel fillet joints in mobile robotic welding

Employing of the mobile robot manipulators for fillet joint welding of vessel is presented in this paper. Have desired weld bead geometry for fillet joints is the objective of this work. The welding process variables which influence weld bead shape, are coupled with each other but not directly connected with weld bead shape individually. The relationships between welding process parameters and weld bead geometry are very difficult and complicated. The task is to track the horizontal fillet seem in the vessel, while the weld bead shape - criteria for quality of weldment - is desired. Here, using of optimum design based on mathematical model to obtain welding process parameters that necessary to programming of mobile robot manipulators. The system discussed in this paper is the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. We use of the manipulability considerations to generate the controls of our system to track seem by end effector. Simulation results were also presented to demonstrate the capability of this system to provide of our requirement.