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Design and validation of a universal 6D seam-tracking system in robotic welding using arc sensing

Fridenfalk, Mikael LU and Bolmsjö, Gunnar LU (2004) In Advanced Robotics 18(1). p.1-21
Abstract
This paper presents the design and validation of a novel and universal 6D seam-tracking system that reduces the need for accurate robot trajectory programming and geometrical databases in robotic arc welding. Such sensor-driven motion control together with adaptive control of the welding process is the foundation for increased flexibility and autonomous behavior of robotic and manufacturing systems. The system is able to follow any 3D spline seam in space with a moderate radius of curvature by real-time correction of the position and orientation of the welding torch, using the through-arc sensing method. The 6D seam-tracking system was developed in the Flexible Unified Simulation Environment (FUSE), integrating software prototyping with... (More)
This paper presents the design and validation of a novel and universal 6D seam-tracking system that reduces the need for accurate robot trajectory programming and geometrical databases in robotic arc welding. Such sensor-driven motion control together with adaptive control of the welding process is the foundation for increased flexibility and autonomous behavior of robotic and manufacturing systems. The system is able to follow any 3D spline seam in space with a moderate radius of curvature by real-time correction of the position and orientation of the welding torch, using the through-arc sensing method. The 6D seam-tracking system was developed in the Flexible Unified Simulation Environment (FUSE), integrating software prototyping with mechanical virtual prototyping, based on physical experiments. The validation experiments showed that this system was both robust and reliable, and is able to manage a radius of curvature less than 200 turn. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
arc-sensing, seam-tracking, sensor-driven motor control
in
Advanced Robotics
volume
18
issue
1
pages
1 - 21
publisher
Taylor & Francis
external identifiers
  • wos:000220520300001
  • scopus:1642275231
ISSN
0169-1864
DOI
10.1163/156855304322753272
language
English
LU publication?
yes
id
e0c12761-c803-44c1-9c5c-d144d4aea0c9 (old id 284131)
date added to LUP
2007-10-22 19:02:40
date last changed
2017-09-10 04:33:53
@article{e0c12761-c803-44c1-9c5c-d144d4aea0c9,
  abstract     = {This paper presents the design and validation of a novel and universal 6D seam-tracking system that reduces the need for accurate robot trajectory programming and geometrical databases in robotic arc welding. Such sensor-driven motion control together with adaptive control of the welding process is the foundation for increased flexibility and autonomous behavior of robotic and manufacturing systems. The system is able to follow any 3D spline seam in space with a moderate radius of curvature by real-time correction of the position and orientation of the welding torch, using the through-arc sensing method. The 6D seam-tracking system was developed in the Flexible Unified Simulation Environment (FUSE), integrating software prototyping with mechanical virtual prototyping, based on physical experiments. The validation experiments showed that this system was both robust and reliable, and is able to manage a radius of curvature less than 200 turn.},
  author       = {Fridenfalk, Mikael and Bolmsjö, Gunnar},
  issn         = {0169-1864},
  keyword      = {arc-sensing,seam-tracking,sensor-driven motor control},
  language     = {eng},
  number       = {1},
  pages        = {1--21},
  publisher    = {Taylor & Francis},
  series       = {Advanced Robotics},
  title        = {Design and validation of a universal 6D seam-tracking system in robotic welding using arc sensing},
  url          = {http://dx.doi.org/10.1163/156855304322753272},
  volume       = {18},
  year         = {2004},
}