Offline motion planning and simulation of two-robot welding coordination

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Frontiers of Mechanical Engineering

2012, Volume 7, Issue 1, Pages 81-92

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Offline motion planning and simulation of two-robot welding coordination

10.1007/s11465-012-0309-4

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Abstract

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots’ relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-SimMechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

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complex curve seam ; two robots ; coordinated welding ; motion planning

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Frontiers of Mechanical Engineering

Offline motion planning and simulation of two-robot welding coordination

Abstract

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Outline

Figures(5)

标签(1)

其他(2)

Frontiers of Mechanical Engineering

Offline motion planning and simulation of two-robot welding coordination

Abstract

Keywords

评论

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