Design and coordinated motion control of a welding robot for large scale workpieces

Yuan Li*, Qinglin Wang, Zhiguo Yan, De Xu, Min Tan

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

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.

Original languageEnglish
Title of host publicationIntelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings
PublisherSpringer Verlag
Pages101-110
Number of pages10
EditionPART 1
ISBN (Print)3540885129, 9783540885122
DOIs
Publication statusPublished - 2008
Event1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 - Wuhan, China
Duration: 15 Oct 200817 Oct 2008

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume5314 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference1st International Conference on Intelligent Robotics and Applications, ICIRA 2008
Country/TerritoryChina
CityWuhan
Period15/10/0817/10/08

Keywords

  • Motion control
  • Visual servo
  • Welding automation
  • Welding robot

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