Cartesian path planning for arc welding robots: Evaluation of the descartes algorithm

Maeyer, Jeroen De; Moyaers, Bart; Demeester, Eric

doi:10.1109/etfa.2017.8247616

Cited by 17 publications

(11 citation statements)

References 5 publications

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“…2 Note that this procedure is different than that described in Section 1 which pertains to a 3D situation.…”

Section: General Procedures and Concept Of Experimentsmentioning

confidence: 98%

“…Therefore, the correction to a target location was estimated by linearly interpolating the fiducial corrections of the eight fiducials closest to the target. 2 The measured target locations (i.e., raw measured locations in robot frame) were only used to determine the registration error, TRE.…”

Section: General Procedures and Concept Of Experimentsmentioning

confidence: 99%

“…These points, called target points, are not used for registration and, in principle, they are measured only in the working frame. Example applications that leverage target points include peg-in-hole insertions [1], robotic welding and Cartesian path planning [2], obtaining hand-eye coordination [3], and grasp planning [4].…”

Section: Introductionmentioning

confidence: 99%

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Improving automated insertion applications by restoring rigid-body condition in point-based registration

Cheok¹,

Franaszek²,

Wyk³

et al. 2017

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“…2 Note that this procedure is different than that described in Section 1 which pertains to a 3D situation.…”

Section: General Procedures and Concept Of Experimentsmentioning

confidence: 98%

Section: General Procedures and Concept Of Experimentsmentioning

confidence: 99%

See 1 more Smart Citation

Improving automated insertion applications by restoring rigid-body condition in point-based registration

Cheok¹,

Franaszek²,

Wyk³

et al. 2017

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“…In many robotic assembly applications, the robot's end effector is required to move linearly, where the end effector's tip must follow designated path points. However, its orientation may still have some degrees of freedom [6]. In the case of spatial extrusion, the tip of the printing nozzle needs to traverse the points on the linear path formed by the element but has freedom in choosing the end effector's orientations.…”

Section: Semi-constrained Cartesian Planningmentioning

confidence: 99%

“…Existing work addresses semi-constrained Cartesian planning problem using an approach that discretizes the end effector's candidate poses and kinematic solutions and performs a discrete search on a planning graph [6] [56]. This algorithm starts with a list of given end effector poses for the robot to traverse and each end effector pose is assigned with parameters with tolerance ranges.…”

Section: Semi-constrained Cartesian Planningmentioning

confidence: 99%

Automated sequence and motion planning for robotic spatial extrusion of 3D trusses

2018

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While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence and robotic motion for trusses with unconstrained topologies. This paper presents the first attempt in the field to rigorously formulate the extrusion sequence and motion planning (SAMP) problem, using a CSP encoding. Furthermore, this research proposes a new hierarchical planning framework to solve the extrusion SAMP problems that usually have a long planning horizon and 3D configuration complexity. By decoupling sequence and motion planning, the planning framework is able to efficiently solve the extrusion sequence, end-effector poses, joint configurations, and transition trajectories for spatial trusses with nonstandard topologies. This paper also presents the first detailed computation data to reveal the runtime bottleneck on solving SAMP problems, which provides insight and comparing baseline for future algorithmic development. Together with the algorithmic results, this paper also presents an open-source and modularized software implementation called Choreo that is machine-agnostic. To demonstrate the power of this algorithmic framework, three case studies, including real fabrication and simulation results, are presented.

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Remote deepwater subsea pipeline maintenance system

Luo

Jiao

Fang

et al. 2021

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Purpose This paper aims to propose a diverless weld bead maintenance welding technology to prevent the leakage of subsea oil and gas pipeline and solve the key problems in the maintenance of subsea pipeline. Design/methodology/approach Based on the analysis of the cross-section of the fillet weld, the multi-layer and multi-pass welding path planning of the submarine pipeline sleeve fillet weld is studied, and thus a multi-layer and multi-pass welding path planning strategy is proposed. A welding seam filling method is designed, and the end position of the welding gun is planned, which provides a theoretical basis for the motion control of the maintenance system. Findings The trajectory planning and adjustment of multi-layer and multi-pass fillet welding and the motion stability control of the rotating mechanism are realized. Research limitations/implications It provides the basis for the prototype design of the submarine pipeline maintenance and welding robot system, and also lays the foundation for the in-depth research on the intelligent maintenance system of submarine pipeline. Originality/value The maintenance of diverless subsea pipeline is a new type of maintenance method, which can solve the problem of large amount of subsea maintenance work with high efficiency.

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Cartesian path planning for arc welding robots: Evaluation of the descartes algorithm

Cited by 17 publications

References 5 publications

Improving automated insertion applications by restoring rigid-body condition in point-based registration

Improving automated insertion applications by restoring rigid-body condition in point-based registration

Automated sequence and motion planning for robotic spatial extrusion of 3D trusses

Remote deepwater subsea pipeline maintenance system

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