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Automatic programming for industrial robot to weld intersecting pipes.

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Title: Automatic programming for industrial robot to weld intersecting pipes.
Authors: Shi, Lei1, Tian, Xincheng1 txch@sdu.edu.cn, Zhang, Chenghui1
Source: International Journal of Advanced Manufacturing Technology. Dec2015, Vol. 81 Issue 9-12, p2099-2107. 9p. 2 Color Photographs, 8 Diagrams, 2 Charts, 3 Graphs.
Subjects: Automatic programming (Computer science), Welding, Algorithms, Industrial robots, Feasibility studies
Abstract: An articulated robot cooperated with a positioner is widely used in the field of intersecting pipes welding. In order to resolve the bottlenecks in productivity caused by the burdensome manual teaching process, this article presents an algorithm to generate motion codes for industrial robot to weld intersecting pipes. A unique welding scheme that simplifies welding technology complexity is introduced and adopted. Based on the geometrical model of intersecting pipes with the most complex intersecting mode, the welding trajectory planning is developed which contains posture planning of the welding torch and weaving welding control strategy. Then the welding trajectory is decomposed into the motion of the robot torch and the positioner, and the spatial relationship between the torch and the robot base is described with homogeneous transformation matrix. Finally, an algorithm flow chart with welding speed control strategy is provided for generating robot motion codes. Simulation and welding experiment verify the feasibility of the algorithm. [ABSTRACT FROM AUTHOR]
Copyright of International Journal of Advanced Manufacturing Technology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Automatic programming for industrial robot to weld intersecting pipes.
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  Data: <searchLink fieldCode="AR" term="%22Shi%2C+Lei%22">Shi, Lei</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Tian%2C+Xincheng%22">Tian, Xincheng</searchLink><relatesTo>1</relatesTo><i> txch@sdu.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Zhang%2C+Chenghui%22">Zhang, Chenghui</searchLink><relatesTo>1</relatesTo>
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  Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Advanced+Manufacturing+Technology%22">International Journal of Advanced Manufacturing Technology</searchLink>. Dec2015, Vol. 81 Issue 9-12, p2099-2107. 9p. 2 Color Photographs, 8 Diagrams, 2 Charts, 3 Graphs.
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  Data: <searchLink fieldCode="DE" term="%22Automatic+programming+%28Computer+science%29%22">Automatic programming (Computer science)</searchLink><br /><searchLink fieldCode="DE" term="%22Welding%22">Welding</searchLink><br /><searchLink fieldCode="DE" term="%22Algorithms%22">Algorithms</searchLink><br /><searchLink fieldCode="DE" term="%22Industrial+robots%22">Industrial robots</searchLink><br /><searchLink fieldCode="DE" term="%22Feasibility+studies%22">Feasibility studies</searchLink>
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  Data: An articulated robot cooperated with a positioner is widely used in the field of intersecting pipes welding. In order to resolve the bottlenecks in productivity caused by the burdensome manual teaching process, this article presents an algorithm to generate motion codes for industrial robot to weld intersecting pipes. A unique welding scheme that simplifies welding technology complexity is introduced and adopted. Based on the geometrical model of intersecting pipes with the most complex intersecting mode, the welding trajectory planning is developed which contains posture planning of the welding torch and weaving welding control strategy. Then the welding trajectory is decomposed into the motion of the robot torch and the positioner, and the spatial relationship between the torch and the robot base is described with homogeneous transformation matrix. Finally, an algorithm flow chart with welding speed control strategy is provided for generating robot motion codes. Simulation and welding experiment verify the feasibility of the algorithm. [ABSTRACT FROM AUTHOR]
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  Data: <i>Copyright of International Journal of Advanced Manufacturing Technology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Type: general
      – SubjectFull: Welding
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      – SubjectFull: Algorithms
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      – SubjectFull: Industrial robots
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              Text: Dec2015
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