Optimal Control of the Welding Manipulator

The optimal control problems of the welding manipulator is described in thispaper by a frequency domain method.The transfer function of the optimal controller with integral action is developed.The theoretical results are verified by the experimental work satisfactorily.By means of the modified frequency domain method anoptimal control system with predescribed degree of stability or degree of dampinp canbe designed.And that will be very important for us to improve the characteristics ofthe transient process of the control system.This method can be used in all systems,lower-order as well as higher-order.