Intelligent Control of Metal Filling by Welding Robots

DOI

10.2991/icadme-15.2015.406How to use a DOI?

Keywords

Welding robot, Kinematics inverse problem ,Binocular stereo vision camera, Metal filling, Laser array sensor.

Abstract

robot model of three-arm and five-degree freedom plus large scope of traversing welding was established, and decoupling of models of “large scope of traversing”, “triangle movement of two arms” and “spherical movement of one arm” was realized. The model of “triangle movement of two arms ”is able to use geometrical calculation to solve the kinematics inverse problem , avoid the multiplicity, improve the calculation speed, eliminate the blind spots of the motions of welding gun of welding robot, and simplify the kinematic pair of kinematic mechanism for the arc filling strategy during welding travelling of robot. Binocular stereo vision camera was used to detect the edges of welds, and laser array sensor was used to measure the weld data. The matlab program is designed according to the shape of weld to calculate the amount of metal filling. Relevant date has been used to calculate the accuracy of the percent and analyze the factors that lead to the errors.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Wei Fu
AU  - Jiajia Ni
AU  - Chengxian Zhou
AU  - Yan Chen
PY  - 2015/10
DA  - 2015/10
TI  - Intelligent Control of Metal Filling by Welding Robots
BT  - Proceedings of the 5th International Conference on Advanced Design and Manufacturing Engineering
PB  - Atlantis Press
SP  - 2174
EP  - 2185
SN  - 2352-5401
UR  - https://doi.org/10.2991/icadme-15.2015.406
DO  - 10.2991/icadme-15.2015.406
ID  - Fu2015/10
ER  -