Acquisition and optimization of weld trajectory and pose information for robot welding of spatial corrugated web sheet based on laser sensing

Chen, Xizhang; Yu, J.

doi:10.1007/s00170-018-1716-4

Cited by 17 publications

(7 citation statements)

References 9 publications

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“…The vision-based method could be an optimized solution for intelligent robotic welding because it is completely independent of CAD data and routine user inputs [9,10]. Meanwhile, the vision-based method proposes a great challenge, and splitting it into several small tasks could be a better solution [11]. Chen described robot pose control for the weld trajectory of a spatial corrugated web sheet based on laser sensing [12].…”

Section: Introductionmentioning

confidence: 99%

Gird Based Line Segment Detector and Application: Vision System for Autonomous Ship Small Assembly Line

Ding

2021

JMSE

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The shipbuilding industry demands intelligent robot, which is capable of various tasks without laborious pre-teaching or programming. Vision system guided robots could be a solution for autonomous working. This paper introduces the principle and technique details of a vision system that guides welding robots in ship small assembly production. TOF sensors are employed to collect spatial points of workpieces. Huge data amount and complex topology bring great difficulty in the reconstruction of small assemblies. A new unsupervised line segment detector is proposed to reconstruct ship small assemblies from spatial points. Verified using data from actual manufacturing, the method of this paper demonstrated good robustness which is a great advantage for industrial applications. This paper’s work has been implemented in shipyards and shows good commercial potential. Intelligent, flexible industrial robots could be implemented with the findings of this study, which will push forward intelligent manufacturing in the shipbuilding industry.

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Section: Introductionmentioning

confidence: 99%

Gird Based Line Segment Detector and Application: Vision System for Autonomous Ship Small Assembly Line

Ding

2021

JMSE

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“…Several operations that are commonly performed by robots in industry are actually characterized by functional redundancy, considering that a radial symmetry of the end-effector tool is sufficient to define a functional redundancy. Common examples include welding [20][21][22], deburring [23,24] or spray painting [25,26] performed by a robot. The latter is investigated in the work [27], where it is shown that functional redundancy can be exploited to enhance a robotic spray operation, choosing manipulability as the optimization goal.…”

Section: Introductionmentioning

confidence: 99%

Energy Optimization of Functionally Redundant Robots through Motion Design

et al. 2020

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This work proposes to exploit functional redundancy as a tool to enhance the energy efficiency of a robotic system. In a functionally redundant system, i.e., one in which the number of degrees of freedom required to complete the task is smaller than the number of available degrees of freedom, the motion of the extra degrees of freedom can be tailored to enhance a performance metric. This work showcases a method that can be used to effectively enhance the energy efficiency through motion design, using a detailed dynamic model of the UR5 serial robot arm. The method is based on an optimization of the motion profile, using a parametrized description of the end-effector orientation: the results showcase an increased efficiency that allows energy savings up to 20.8%, according to the energy consumption results according to the electro-mechanical dynamic model of the robot.

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“…Robotic welding not only improves quality and efficiency but also reduces assistance intensity and cost, due to the number of variants of arc welding that have been developed in an attempt to improve the performance and productivity of the process. Increasing flexibility is the primary task needed to take advantage of robotic welding for industries [1][2][3], Also the welding quality is one of the key factors which affect the constructional strength and the comprehensive quality of the products, in the modern manufacturing industry, and with this can the particulars of the weld joints can be improved [4,5].…”

Section: Introductionmentioning

confidence: 99%

Arc Sensor Parameter Optimisation for Robot Welding

Kafi

Kovács

2020

Vehicle and Automotive Engineering 3

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In this article, the authors present the arc sensor supported robot welding process and the task of the sensor in the welding practice. Arc welding is a very important industrial process. The welded joint needs to be high quality besides the high productivity and cost-effective manufacturing. The joint quality depends on the welding process realization and the used welding parameters. The sensor in the case of the robot welding process supports the regularity of the joint. The arc sensor on the base of the welding currents checking during the welding process continually corrects the arc position by the correction of the robot control. The checking intensity of the sensor depends on the data input range what is determined by the sensor control parameters (weaving and correction condition).In this research by a practical experimental method, the sensor condition optimization is introduced in the case of the used Motoman welder robot and the used advanced arc sensor.

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Acquisition and optimization of weld trajectory and pose information for robot welding of spatial corrugated web sheet based on laser sensing

Cited by 17 publications

References 9 publications

Gird Based Line Segment Detector and Application: Vision System for Autonomous Ship Small Assembly Line

Gird Based Line Segment Detector and Application: Vision System for Autonomous Ship Small Assembly Line

Energy Optimization of Functionally Redundant Robots through Motion Design

Arc Sensor Parameter Optimisation for Robot Welding

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