In this paper a model and sensor based system for planning and controlling robotized welding of ship panels are presented. Special focus is on the continuous welding of corners. This system combines information from geometry models and process models with signals from a laser scanner mounted just in front of the welding tool to control the welding trajectory, such that collision in the corner is avoided and an acceptable weld quality is obtained. Elements of the system have been implemented in a system for controlling Hybrid MIG/YAGlaser welding at Odense Steel Shipyard Ltd, Denmark. In experiments with the system a tracking accuracy of about 0.25 mm was obtained in regions near the corner, whereas the accuracy in the corner it self was about 2 mm. It is estimated that in the corner an accuracy of 0.5 mm can be obtained with improved tool calibration methods.
Automatic planning and control of hybrid MIG/YAG-laser welding of ship panels
Automatische Planung und Steuerung des Hybrid-MIG/YAG-Laserstrahlschweißens von Schiffsblechen
MechRob, Mechatronics and Robotics, 2004 ; 1223-1228
2004
6 Seiten, 12 Bilder, 6 Quellen
Aufsatz (Konferenz)
Englisch
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