A challenging application for sensor guidance intelligent systems is seam tracking in robotic welding. Seam tracking is among others used for the manufacturing of large ships such as cruisers and oil tankers, where relatively high tolerances in the sheet material are allowed to minimize the manufacturing costs. Seam tracking is today typically only performed in 2D, by a constant motion in x and compensation of the errors in y and z directions. There exist solutions for higher autonomy that include seam tracking in 3D where compensation is also performed in o direction or around an orientation axis. These limitations make however seam tracking only possible for workpieces with relatively simple geometrical shapes. The next step in the evolution of sensor systems in robotic welding is the introduction of a full 6D sensor guided control system for seam tracking that is able to correct the TCP in x, y, z and around roll, pitch and yaw. Such ultimate system is per definition able to follow any continuous 3D seam with moder ate curvature. This paper presents the design and validation of a universal 6D seam tracking system that reduces the need of accurate robot trajectory programming. Such sensor driven motion control together with adaptive control of the welding pro cess is the foundation for increased flexibility and autonomous behavior of robotic and manufacturing systems. The system is able to follow any 3D spline seam in space with moderate radius of curvature by the real-time correction of the position and orientation of the welding torch, using the through-arc sensing method. The 6D seam tracking system was developed from results of the ROWER-2 aiming at advancing the automatic welding and assembly of ship sections. The validation experiments showed that this system was both robust and reliable and is able to manage curvatures and abrupt changes in the weld joint in a stable way.
Seam tracking and robot guidance for welding in shipbuilding
Schweißnahtverfolgung und Robotersteuerung im Schiffbauschweißen
MechRob, Mechatronics and Robotics, 2004 ; 1530-1535
2004
6 Seiten, 18 Quellen
Aufsatz (Konferenz)
Englisch
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