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ZHANG Ke
Lü Xueqin
WU Yixiong
LOU Songnian
Institute of Welding Engineering,
Shanghai Jiaotong University,
Shanghai 200030, China |
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ALGORITHM AND
IMPLEMENTATION
OF
AUTO-SEARCHING WELD LINE
FOR WELDING MOBILE ROBOT*
Abstract:
An algorithm of auto-searching weld line for welding mobile robot is presented. Auto-searching weld line is that the robot can automatically recognize a weld groove according to the characteristics of the weld groove before welding, and then adjust itself posture to the desired status preparing for welding, namely, it is a process that the robot autonomously aligns itself to the center of welding seam. Firstly, the configuration of welding mobile robot with the function of auto-searching weld line is introduced, then the algorithm and implementation of auto-searching weld line are presented on the basis of kinematics model of the robot, at last trajectory planning among auto-searching weld line is investigated in detail. The experiment result shows that the developed welding mobile robot can successfully implement the task of auto-searching weld line before welding, tracking error precision can be controlled to approximate ± 1.5 mm, and satisfy the requirement of practical welding project.
Key words:
Welding mobile robot Auto-searching weld line Trajectory planning |