Posture Control of Welding Robot on the Basis of CAD Data (Collision Avoidance using Potential Field)
The study deals with an automation of the welding by generating the control command for the welding robot automatically.Generally,a movement of a robot is decided depending on the tool path-a series of position and posture of the tool attached to the mechanical interface-of the robot.We tried to generate the tool path focused on a collision avoidance of the welding tool on the bases of CAD data of the workpiece.In the study,to cope with a characteristic of the welding,which is required to be continuous in tool velocity and posture,the tool path is generated by use of a potential field in a configuration space.As a result,the system is found effective to generate smooth and collision-free tool path.
industrial robot welding collision avoidance
Naoki Asakawa Yoshihiro Kanjo
Faculty of Mechanical Engineering, Institute of Science and Engineering, Kanazawa University, Ishika Turumi Works, JFE Engineering Corp.Yokohama, Japan
国际会议
天津
英文
388-391
2012-10-16（万方平台首次上网日期，不代表论文的发表时间）