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Inverse kinematic control algorithm for a welding robot - positioner system to trace a 3D complex curve

Inverse kinematic control algorithm for a welding robot - positioner system to trace a 3D complex curve

Chu, A My, Duong, X Bien, Bui, H Tung, Le, C Hieu ORCID: 0000-0002-5168-2297, Nguyen, V Cong and Tran, V Hieu (2019) Inverse kinematic control algorithm for a welding robot - positioner system to trace a 3D complex curve. In: 2019 International Conference on Advanced Technologies for Communications (ATC). IEEE, pp. 319-323. ISBN 978-1728123929 ISSN 2162-1020 (Print), 2162-1039 (Online) (doi:https://doi.org/10.1109/ATC.2019.8924540)

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Abstract

The welding robots equipped with rotary positioners have been widely used in several manufacturing industries. However, for welding a 3D complex weld seam, a great deal of points should be created to ensure the weld path smooth. This is a boring job and is a great challenge - rotary positioner system since the robot and the positioner must move simultaneously at the same time. Therefore, in this article, a new inverse kinematics solution is proposed to generate the movement codes for a six DOFs welding robot incorporated with a rotary positioner. In the algorithm, the kinematic error is minimized, and the actual welding error is controlled so that it is always less than an allowable limit. It has shown that the proposed algorithm is useful in developing an offline CAD-based programming tool for robots when welding complex 3D paths. The use of the algorithm increases the accuracy of the end-effector positioning and orientation, and reduces the time for teaching a welding robot - positioner system. Simulation scenarios demonstrate the potency of the suggested method.

Item Type: Conference Proceedings
Title of Proceedings: 2019 International Conference on Advanced Technologies for Communications (ATC)
Additional Information: This is the outcome of the externally funded project entitled "Big data analytics-based optimization of process parameters for a smart manufacturing shop floor consisting of CNC machines and Robots (10/2019 – 10/2021). Funded by VINIF. Budget: 300,000 USD. Project code: VINIF. 2019. DA08.
Uncontrolled Keywords: welding robot, inverse kinematics, robot offline programming, robot with positioner
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Faculty / Department / Research Group: Faculty of Engineering & Science
Faculty of Engineering & Science > Design, Manufacturing and Innovative Products Research Theme
Faculty of Engineering & Science > School of Engineering (ENN)
Last Modified: 21 Jan 2020 16:23
Selected for GREAT 2016: None
Selected for GREAT 2017: None
Selected for GREAT 2018: None
Selected for GREAT 2019: None
URI: http://gala.gre.ac.uk/id/eprint/26696

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