Study on robot motion control for intelligent welding processes based on the laser tracking sensor

4th International Conference on Advanced Composite Materials and Manufacturing Engineering 2017

材料科学;化学

Zhang, Bin^1 ; Wang, Qian^1 ; Tang, Chen^1 ; Wang, Ju^1

China Ji Liang University, Hangzhou

310018, China^1

关键词: Control methods;    Free form curve;    Intelligent welding;    Intersection points;    Laser tracking;    Robot motion control;    Weld seam;    Welding torch;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/207/1/012036/pdf
DOI  :  10.1088/1757-899X/207/1/012036

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

A robot motion control method is presented for intelligent welding processes of complex spatial free-form curve seams based on the laser tracking sensor. First, calculate the tip position of the welding torch according to the velocity of the torch and the seam trajectory detected by the sensor. Then, search the optimal pose of the torch under constraints using genetic algorithms. As a result, the intersection point of the weld seam and the laser plane of the sensor is within the detectable range of the sensor. Meanwhile, the angle between the axis of the welding torch and the tangent of the weld seam meets the requirements. The feasibility of the control method is proved by simulation.