Real-time seam tracking for robotic laser welding using trajectory-based control

被引：58

作者：

de Graaf, Menno ^{[1
]}

Aarts, Ronald ^{[1
]}

Jonker, Ben ^{[1
]}

Meijer, Johan ^{[1
]}

机构：

[1] Univ Twente, Lab Mech Automat, NL-7500 AE Enschede, Netherlands

来源：

CONTROL ENGINEERING PRACTICE | 2010年 / 18卷 / 08期

关键词：

Robotics; Seam tracking; Laser welding; Trajectory-based control; Trajectory generation; Synchronisation; HEIGHT-VARYING WELDMENT; VISION SENSORS; SYSTEM;

D O I：

10.1016/j.conengprac.2010.04.001

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper a real-time seam tracking algorithm is proposed that can cope with the accuracy demands of robotic laser welding. A trajectory-based control architecture is presented, which had to be developed for this seam tracking algorithm. Cartesian locations (position and orientation) are added to the robot trajectory during the robot motion. In this way, sensor information obtained during the robot motion is used to generate the robot trajectory while moving. Experiments have been performed to prove the tracking capabilities of the seam tracking algorithm. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：944 / 953

页数：10

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