Skip to main content
SpringerLink
Log in

Design and Coordinated Motion Control of a Welding Robot for Large Scale Workpieces

  • Conference paper
Intelligent Robotics and Applications (ICIRA 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5314))

Included in the following conference series:

  • 3767 Accesses

Abstract

In order to meet the demands of the welding of large scaled workpieces, a welding robot is designed with 9 motion joints and 6 degrees of freedom. Two groups of macro and micro motion mechanisms are adopted for large travel and high positioning precision. The welding trajectory is taught grossly in Cartesian space, and the motion of joints is planned in joint space with the kinematics model of the welding robot. A method of motion control of macro and micro joints is presented for stability and precision in seam tracking. Experimental results verified the effectiveness of the mechanisms of welding robot and the control system.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Smith, T.F., Waterman, M.S.: Identification of Common Molecular Subsequences. J. Mol. Biol. 147, 195–197 (1981)

    Article  Google Scholar 

  2. Bolmsjö, G., Olsson, M., Cederberg, P.: Robotic arc welding - trends and developments for higher autonomy. The Industrial Robot 29(2), 98–104 (2002)

    Article  Google Scholar 

  3. Wang, Y., Tan, M., Jing, F., et al.: Kinematic analysis and application of a huge workpiece handling system based on multi-robot coordination. Robot 24(5), 451–455 (2002)

    Google Scholar 

  4. Lee, J., Kim, J., Kim, H., et al.: Development of multi-axis gantry type welding robot system using a PC-based controller. In: IEEE International Symposium on Industrial Electronics, 2001. Proceedings, vol. 3, pp. 1536–1541 (2001)

    Google Scholar 

  5. Ou, G., Zhang, H., Liu, G., et al.: Seam tracking control system of pedrailed intelligent arc welding robot. Robot 25(5), 448–451 (2003)

    Google Scholar 

  6. Bahrami-Samani, M., Agahi, M., Moosavian, S.A.A.: Design and analysis of a welding robot. In: IEEE International Conference on Automation Science and Engineering, 2006, pp. 454–459 (2006)

    Google Scholar 

  7. Xu, H., Jia, P.: RTOC: A Rt-Linux based open robot controller. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1644–1649 (2006)

    Google Scholar 

  8. Dai, W., Kampker, M.: PIN-a PC-based robot simulation and offline programming system using macro programming techniques. In: The 25th Annual Conference of the IEEE Industrial Electronics Society. Proceedings, vol. 1, pp. 29, 442–446 (1999)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Beijing Institute of Technology, Beijing, 100030, P.R. China

    Yuan Li & Qinglin Wang

  2. Key Laboratory of Complex Systems and Intelligence Sciences, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, P.R. China

    Zhiguo Yan, De Xu & Min Tan

Authors
  1. Yuan Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Qinglin Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Zhiguo Yan
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. De Xu
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Min Tan
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Caihua Xiong , Yongan Huang  & Youlun Xiong ,  & 

  2. Institute of Industrial Research, University of Portsmouth, Burnaby Building, PO1 3QL, Portsmouth, UK

    Honghai Liu

Rights and permissions

Reprints and permissions

Copyright information

© 2008 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Li, Y., Wang, Q., Yan, Z., Xu, D., Tan, M. (2008). Design and Coordinated Motion Control of a Welding Robot for Large Scale Workpieces. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_12

Download citation

  • DOI: https://doi.org/10.1007/978-3-540-88513-9_12

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-88512-2

  • Online ISBN: 978-3-540-88513-9

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation