Collision avoidance for robot in boiler header welding

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.