• DocumentCode
    29831
  • Title

    Optimal Motion Planning of All Position Autonomous Mobile Welding Robot System for Fillet Seams

  • Author

    Tao Zhang ; Shanben Chen ; Minghui Wu ; Yanzheng Zhao ; XiaoQi Chen

  • Author_Institution
    Inst. of Welding Eng., Shanghai Jiao Tong Univ., Shanghai, China
  • Volume
    10
  • Issue
    4
  • fYear
    2013
  • fDate
    Oct. 2013
  • Firstpage
    1147
  • Lastpage
    1151
  • Abstract
    This paper analyzes the motion planning of a custom-built all position autonomous mobile welding robot. It proposes a novel motion planning method that allows the robot to complete fillet seam welding while the vehicle turns around the right angle seam simultaneously. The global optimal solution is obtained through model modification.
  • Keywords
    mobile robots; optimal control; path planning; robotic welding; custom-built all position autonomous mobile welding robot system; fillet seam welding; global optimal solution; model modification; optimal motion planning; right angle seam; Kinematics; Mobile robots; Motion planning; Optimization; Turning; Welding; Kinematics; mobile welding robot; motion planning; optimization model; right angle seams;
  • fLanguage
    English
  • Journal_Title
    Automation Science and Engineering, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1545-5955
  • Type

    jour

  • DOI
    10.1109/TASE.2013.2252462
  • Filename
    6506116
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=29831