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Kinematic aspects of a robot-positioner system in an arc welding application

Abstract : This paper focuses on the kinematic control of a redundant robotic system taking into account particularities of the arc welding technology. The considered system consists of a 6-axis industrial robot (welding tool manipulator) and a 2-axis welding positioner (workpiece manipulator) that is intended to optimise a weld joint orientation during the technological process. The particular contribution of the paper lies in the area of the positioner inverse kinematics, which is a key issue of such system off-line programming and control. It has been proposed a novel formulation and a closed-form solution of the inverse kinematic problem that deals with the explicit definition of the weld joint orientation relative to the gravity. Similar results have also been obtained for the known problem statement that is based on a unit vector transformation. For both the cases, a detailed investigation of the singularities and uniqueness-existence topics have been carried out. The presented results are implemented in a commercial software package and verified for real-life applications in the automotive industry.
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https://hal-emse.ccsd.cnrs.fr/emse-00704692
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Submitted on : Tuesday, August 3, 2021 - 5:16:09 PM
Last modification on : Wednesday, April 27, 2022 - 3:43:05 AM
Long-term archiving on: : Thursday, November 4, 2021 - 7:04:15 PM

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Anatol Pashkevich, Alexandre Dolgui, Konstantin Semkin. Kinematic aspects of a robot-positioner system in an arc welding application. Control Engineering Practice, Elsevier, 2003, 11 (6), pp.633-647. ⟨10.1016/S0967-0661(02)00177-6⟩. ⟨emse-00704692⟩

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