Title :
Collision avoidance for robot in boiler header welding
Author :
Dong, Chun ; Xu, Wenli ; Yang, Geng ; Fu, Lixin ; Hou, Linqi
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing, China
Abstract :
A robot workstation for welding nozzle onto header is introduced. Consisting of a welding robot and a measuring robot, the workstation implements boiler header welding automatically. Then, a method to generate welding track for the welding robot is presented, and collision avoidance for the welding robot within limited space by artificial potential field is discussed. Finally, the collision avoidance solution is demonstrated by experiments.
Keywords :
collision avoidance; robotic welding; artificial potential field; automatic boiler header welding; collision avoidance; measuring robot; welding robot; welding track generation; Boilers; Collision avoidance; Orbital robotics; Robotics and automation; Robots; Welding; Workstations;
Conference_Titel :
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN :
0-7803-8273-0
DOI :
10.1109/WCICA.2004.1343617
