Title :
Arc tracking on an eight-axis robot system
Author :
Qi, Ronghuai ; Lam, Tin Lun ; Qian, Huihuan ; Xu, Yangsheng
Abstract :
Arc tracking is a significant function in welding robot applications. In this paper, we present an eight-axis robot arm system, and propose an arc tracking on this system, including signal collection, process, and offset derive. Moreover, we establish a kinematics modeling of sine weaving, and offset compensate models, which can compensate actual offsets to the welding process, and experiments show that they can be satisfied to the industrial needs.
Keywords :
arc welding; industrial manipulators; manipulator kinematics; robotic welding; arc tracking; eight-axis robot arm system; kinematics modeling; offset compensate model; signal collection; sine weaving; welding robot application; Filtering; Robot sensing systems; Tracking; Vectors; Weaving; Welding;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181364
