An algorithm for the welding torch weaving control of arc welding robot

  • Wen Liang Zhu College of Harbor Coastal and Offshore Engineering, Hohai University
  • Fu-sheng NI Engineering Research Center of Dredging Technology, Hohai University
  • Cao-gen HONG Jiangsu Automation Research Institution
Keywords: Six DOF robot, Arc welding, Weaving welding, Coordinate transformation, Control algorithm, Industrial implementation.

Abstract

The teaching learning method is generally applied in six DOF (degrees of freedom) robot programming. However, for complicated weaving welding, there is a drawback using this method. That is that numerous  teaching control points are needed in the programming. Based on the theory of coordinate transformation, the purpose of this paper was to address this drawback by utilizing an algorithm for the welding torch weaving control. This algorithm includes the novel formulation to calculate the tracking position, and can produce an accurate and continuous weaving path along various weld lines. The teaching programming can easily determine these weld lines which contain few teaching points. Therefore, this algorithm can reduce the programming time for the robotic welding application. A lot of experiments have been done to validate the algorithm. The experimental results show that the weaving control algorithm is correct and can produce various weaving paths.

DOI: http://dx.doi.org/10.5755/j01.eee.21.2.5919

Published
2015-04-09
Section
AUTOMATION, ROBOTICS