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HONG Yuxiang, DU Dong, PAN Jiluan, LI Xiangwen. Seam tracking based on dynamic trajectory planning for a mobile welding robot[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2015, 36(10): 25-28.
Citation: HONG Yuxiang, DU Dong, PAN Jiluan, LI Xiangwen. Seam tracking based on dynamic trajectory planning for a mobile welding robot[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2015, 36(10): 25-28.
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Seam tracking based on dynamic trajectory planning for a mobile welding robot

  • 1.

    Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, Tsinghua University, Beijing 100084, China

  • 2.

    Engineering Research Center for Complex Trajectory Machining Technology and Equipment, Ministry of Education, Xiangtan University, Xiangtan 411105, China

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  • Received Date: January 09, 2014
    Graphical Abstract
    • Abstract
  • A new seam-tracking method based on dynamic trajectory planning for mobile welding robot is proposed in order to improve the response lag of the mobile robot and the high frequency oscillation in seam tracking. By using front-placed laser-based vision sensor to extract dynamically the location of weld seam in front of torch, the trend and direction of the weld line is roughly obtained. Than the robot system autonomously performs trajectory planning dynamically based on the isometric approximation model. Arc sensor technology is applied to detect the offset during welding process in real time. And the dynamic compensation of weld path is done in combination with the control of mobile robot and the executive body installed on it. Simulation and experiment results demonstrate that the method can effectively increase the stability of welding speed and smoothness of weld track and hence the weld forming in the curve and corner is improved.
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    • References (7)
  • 张 轲, 吴毅雄, 金 鑫. 基于高斯基模糊神经网络的移动焊接机器人焊缝实时跟踪[J]. 焊接学报, 2007, 28(9): 17-20. Zhang Ke, Wu Yixiong, Jin Xin. Real-time seam tracking based on fuzzy-gaussian neural network for welding mobile robot[J]. Transactions of the China Welding Institution, 2007, 28(9): 17-20.
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    高延峰, 张 华, 毛志伟, 等. 轮式机器人折线焊缝跟踪协调控制方法[J]. 焊接学报, 2008, 29(5): 33-36. Gao Yanfeng, Zhang Hua, Mao Zhiwei, et al. Coordinate controlof broken-line welding seam tracking for wheeled robot[J]. Transactions of the China Welding Institution, 2008, 29(5): 33-36.
    毛志伟, 李舒扬, 葛文韬, 等.移动焊接机器人大折角角焊缝跟踪及工艺[J]. 焊接学报, 2011, 32(2): 33-36. Mao Zhiwei, Li Shuyang, Ge Wentao, et al. Tracking and technique of large fillet weld seam of mobile welding robot[J]. Transactions of the China Welding Institution, 2011, 32(2): 33-36.
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