@inproceedings{188bdaf5d273450d9aeb3155ad71b662,
title = "Design and coordinated motion control of a welding robot for large scale workpieces",
abstract = "In order to meet the demands of the welding of large scaled workpieces, a welding robot is designed with 9 motion joints and 6 degrees of freedom. Two groups of macro and micro motion mechanisms are adopted for large travel and high positioning precision. The welding trajectory is taught grossly in Cartesian space, and the motion of joints is planned in joint space with the kinematics model of the welding robot. A method of motion control of macro and micro joints is presented for stability and precision in seam tracking. Experimental results verified the effectiveness of the mechanisms of welding robot and the control system.",
keywords = "Motion control, Visual servo, Welding automation, Welding robot",
author = "Yuan Li and Qinglin Wang and Zhiguo Yan and De Xu and Min Tan",
year = "2008",
doi = "10.1007/978-3-540-88513-9_12",
language = "English",
isbn = "3540885129",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
number = "PART 1",
pages = "101--110",
booktitle = "Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings",
address = "Germany",
edition = "PART 1",
note = "1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 ; Conference date: 15-10-2008 Through 17-10-2008",
}