Motion control of two-wheeled welding mobile robot with seam tracking sensor

Kam, Byoung-Oh; Jeon, Yong-Sung; Kim, Sang-Bong

doi:10.1109/isie.2001.931579

Cited by 17 publications

(11 citation statements)

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“…Jacobian is calculated relative to the last frame. The transformation matrix for the particular manipulator is given in (26).…”

Section: Workpacementioning

confidence: 99%

“…These manipulators are developed for three dimensional laser vision systems for the welding of ship and seam tracking, respectively. A mobile welding robot for straight welding path with sensors is proposed by Kam, et al [16]. A mobile robot using a sliding mode control for tracking a smooth curved path is proposed by Chung, et al [17].…”

Section: Introductionmentioning

confidence: 99%

“…Much research is being carried out to solve these problems [23]. Researchers [24]- [26] have presented intelligent mobile robots for welding on spherical tanks where the robot base is fixed on tank surface and the manipulator travels on the spherical surface. A welding mobile manipulator may combine a moving platform and a robotic manipulator to increase mobility and dexterous space of the robot for use in an automated manufacturing environment.…”

Section: Introductionmentioning

confidence: 99%

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Workspace Design and Trajectory Planning of a Five Degree of Freedom Mobile Welding Manipulator for Spherical Objects

et al. 2021

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Mobile Manipulators (MM) has attracted a lot of researchers for incorporation in the robotics field owning to their multitude of applications in real world. Welding automation has its wide applications in industry like automobile manufacturing and power generation industry involving spherical tanks. The objective of this study is to design workspace and devise a methodology to plan position trajectory of welding tool that produces smooth welding while the mobile platform turns simultaneously. The robot proposed in this paper has the manipulator mounted on a platform moving as a turntable to increase the workspace and enhances the mobility of the manipulator. The earlier produces linear segment of weld while the later produces parabolic segment. The kinematic equations for mobile platform and the mounted manipulator are described in detail. The workspace of the robot is visualized based on computations of transformation matrices and jacobians structured based on kinematic equation. Trajectories for each joint, computed using inverse kinematic equations, are also presented. For spherical trajectories the solution of system equations is combined with constraint values for each manipulator joint, thus allowing computation of desired joint position at any time interval. The efficacy of the proposed methodology for the trajectory planning is tested through a case study. The simulation results of motion transformation, workspace and trajectory show that linear segments of the trajectory combine with parabolic trajectory segments smoothly with zero acceleration within designed reachable workspace. The experimental results verify the efficacy of application of presented kinematic and inverse kinematic models for welding of spherical objects.

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“…Jacobian is calculated relative to the last frame. The transformation matrix for the particular manipulator is given in (26).…”

Section: Workpacementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Workspace Design and Trajectory Planning of a Five Degree of Freedom Mobile Welding Manipulator for Spherical Objects

et al. 2021

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“…Attempts have been made in the recent past to trace the weld line using a seam tracking sensor as discussed in Kam et al [2]. Their paper describes a two-wheeled robot with a seam tracking sensor that is able to trace straight and curved lines with the help of potentiometer type sensors which produce an error signal.…”

Section: Introductionmentioning

confidence: 99%

Tracing a Weld Line using Artificial Neural Networks

Rao¹,

Kalaichelvi²,

Karthikeyan³

2018

IJNDC

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KeywordsRobot ANN welding image processing A B S T R A C TRobotic manipulators are becoming increasingly popular nowadays with applications in almost every industry and production line. It is difficult but essential to create a common algorithm for the different types of manipulators present in today's market so that automation can be achieved at a faster rate. This paper aims to present a real-time implementation of a method to control a Tal Brabo! Robotic manipulator to move along a given weld line in order to be utilized in factories for increasing production capacity and decreasing production time. The controller used here is provided by Trio, whose ActiveX component is interfaced to MATLAB. Images were captured to identify weld lines in every possible alignment to find points of interest and the neural network was trained in order to follow a given weld line once the work-piece was placed on the work-table.

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“…As a result, novel approaches have emerged, such as highly integrated sensor systems [3], reflectometers for three-dimensional holographic imaging [4], through-the-wall detection of life signs [5], low-cost radio frequency identification tag characterization [6], and novel high-precision measurement systems [7] – to name but a few. Especially in welding applications, the presently available sensors are based on mechanical effects as, for instance, in tactile sensors [8, 9] or optical effects, for instance, in laser sensors and camera-supported systems [10, 11]. Furthermore, X-ray [12] or ultrasonic-based sensors [13] are used for welding control.…”

Section: Introductionmentioning

confidence: 99%

Position gauging of welding joints with an FMCW-based mm-wave radar system

Schrattenecker

Schuster

Schmid³

et al. 2015

Int. J. Microw. Wireless Technol.

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This paper presents a position gauging system of welding joints. While the principle measurement concept was already introduced by Schrattenecker et al. in2014, here it is focused on different types of practically used welding materials. The sensor used is based on the frequency-modulated continuous-wave principle operating in the W-band. Position estimation (PoE) of different welding geometries is carried out with polarimetric scattering effects introduced by geometrical discontinuities. For the real-time calculation of the signal models a field simulation tool we developed is used. Aside from a variety of geometries, we introduce a geometrical optimization approach that increases the achievable accuracy of the measurement concept. The optimization and PoE of the different welding materials were examined in various simulations and the results were verified by measurements in the laboratory and in an industrial environment. Simulation and measurement were in good agreement.

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Motion control of two-wheeled welding mobile robot with seam tracking sensor

Cited by 17 publications

References 0 publications

Workspace Design and Trajectory Planning of a Five Degree of Freedom Mobile Welding Manipulator for Spherical Objects

Workspace Design and Trajectory Planning of a Five Degree of Freedom Mobile Welding Manipulator for Spherical Objects

Tracing a Weld Line using Artificial Neural Networks

Position gauging of welding joints with an FMCW-based mm-wave radar system

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