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ZHANG Huajun, ZHANG Guangjun, CAI Chunbo, XIAO Jun, GAO Hongming. Master-slave coordinated motion controlling of double-sided arc welding robots[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2011, (1): 25-28.
Citation: ZHANG Huajun, ZHANG Guangjun, CAI Chunbo, XIAO Jun, GAO Hongming. Master-slave coordinated motion controlling of double-sided arc welding robots[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2011, (1): 25-28.
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Master-slave coordinated motion controlling of double-sided arc welding robots

  • 1.

    School of Materials Science and Engineering, Harbin University of Science and Technology, Harbin 150040, China;School of Material Science and Technology, Shanghai Jiaotong University, Shanghai 200240, China

  • 2.

    State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China

  • 3.

    School of Materials Science and Engineering, Harbin University of Science and Technology, Harbin 150040, China

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  • Received Date: November 28, 2010
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    • Abstract
  • A flexible manufacturing system of non root chipping double-sided arc welding robots is studied in order to realize robot automatic welding for thick plate of low alloy high tensile steel.Master-slave coordinated method is adopted.Motoman robot is master and KUKA robot is slave.According to the ending position attitude of welding torch of master hand,reference path plane of plate is look on as symmetric plane.Motion path of slave-hand is deduced by kinematics coordinate conversion.And Master-slave coordinated motion of double-sided arc welding robots is reached and is verified by coordinated motion experiment.
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