Design of a Robotic Arm Control System with 06 DOF Applied in Ship Hull Welding by PLC S7.1200

— The paper is about the design of a robotic arm control system with 06 DOF applied in ship hull welding by PLC S7.1200 and HMI teaching arm. The robot is responsible for welding the joints that need to be welded among the hull pieces. On the basis of the theory of solving kinematic problems and dynamic problems (kinetic energy, potential energy, moment of inertia and differential equations of motion), the robot controlling system is designed on Python software and connects with PLC S7-1200 via S7.net virtual library. It helps control the working trajectory through flexible control of 6 motors and control soldering iron Mig to weld the joints at the end of the operation. The control system restores the entire control system for the robotic arm, which can be applied to extend to similar 6 DOS robotic arms as well as directly improve the hull welding productivity in the manufacturing industry with simple operation to help workers completely master the technolog