关键词：光机电；机器人；可变增益PID；控制系统
摘 要：According to the requirement of operational stability and reliability of welding robot,the direct and inverse kinematics models of three-axis linkage welding robot were analyzed.Based on the analysis result,variable gain PID control scheme was designed,and the control system model was built.The control scheme was checked and assessed using MATLAB analysis box.Analysis results show that control system satisfies the demands of welding robot running stability and reliability in ideal status,and the research has laid foundation for the further research.