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This paper presents welding torch pose model and interpolation algorithm of trajectory control of saddle-shaped weld formed by intersection of two pipes; the working principle, interpolation algorithm, welding experiment, and simulation result of the automatic welding system of the saddle-shaped weld are described. A variable angle interpolation me...
Citations
... For the robot welding, Ren et al. [8] established a mathematical model of the welding torch and the pipelines, and briefly described the relationship between the welding torch position and the pipeline weld in matrix form. On this basis, Xue et al. [9] and Liu et al. [10] introduced the curve interpolation principle and used variable angle interpolation to discretize intersecting curves. The effectiveness of the algorithm was verified by simulation and experiment, which ensured uniform welding velocity and good welding quality. ...
The welding of spatial intersecting curves is widely used in the pressure vessels, in which the welding quality cannot be achieved by traditional methods. To this end, this paper proposes a novel methodology of dual-robot welding for the intersecting pipes by means of motion planning and off-line programming. This method takes advantage of the redundancy of the dual-robot system to obtain alternative paths for the collaborative welding task. Based on the mathematical model of the welding seam, the intersecting curve trajectory of the intersecting pipes is generated through the relevant mathematical theory and the MATLAB programming. The intersecting curve trajectory is decomposed into the welding trajectory and collaborative trajectory, and then imported into the RobotStudio simulation platform. The collaborative welding operation of dual-robot is finally achieved, which verify the effectiveness of the proposed methodology.
