Robotic Friction Stir Welding Path Planning with Deflection Compensation Using B-Splines

Kolegain, Komlan; Léonard, François; Chevret, Sandra; Attar, Amarilys Ben; Abba, Gabriel

doi:10.1007/978-3-319-78963-7_34

Cited by 3 publications

(4 citation statements)

References 11 publications

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“…Spline curve is a mathematical tool that can be used to describe smooth and continuous trajectories, so it is widely used in path planning of industrial robots. In this part, the application of a single curve in path planning is reviewed [108]. Then, an intelligent path planning method based on spline curve is listed, which uses the spline curve to model the trajectory of the robot and optimizes the spline curve through intelligent algorithms (such as ant colony algorithm, genetic algorithm, etc.)…”

Section: Intelligent Path Planning Application Of Welding Robot Based...mentioning

confidence: 99%

“…Online compensation technique is based on feedback control and uses sensors [113] or deflection models [114] for real-time compensation. It has been proposed that a path deviation compensation method for robot offline welding based on Bezier curve [108]. In this example, a Bezier curve is utilized to generate an optimized path with deflection using the y and z coordinate values taken from the CAD model.…”

Section: Bezier Curve Compensates the Motion Deviation Of Fsw Robotmentioning

confidence: 99%

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Review of path planning of welding robot based on spline curve

He,

Teo,

Moey

2024

J. Mech. Eng. Sci.

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This paper assesses the efficacy of intelligent path planning for welding robots utilizing splines. Traditional path planning methods can result in inefficient and inaccurate welding operations. The study reviews current research and case studies to appraise the practical application of spline-based path planning across diverse industrial scenarios. It underscores the benefits of discovering the shortest path and reducing cycle time while acknowledging challenges such as calibration accuracy and sensitivity to sensor data noise. The introduction of artificial intelligence algorithms in automobile welding path planning enables a more precise replication of the body's design curve, ensuring the continuity and smoothness of the welding process. This, in turn, fosters further automation and optimization of the automotive welding manufacturing process. The current research concentrates on integrating intelligent optimization algorithms and spline curves to provide an efficient and intelligent method for welding path planning. Intelligent path planning based on spline curves demonstrates significant potential in enhancing welding efficiency, determining the shortest path, and holds promising applications in the broader research field of welding path planning.

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Section: Intelligent Path Planning Application Of Welding Robot Based...mentioning

confidence: 99%

Section: Bezier Curve Compensates the Motion Deviation Of Fsw Robotmentioning

confidence: 99%

Review of path planning of welding robot based on spline curve

He,

Teo,

Moey

2024

J. Mech. Eng. Sci.

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“…In recent years, robotic intelligent control technology has been rapidly developed. The effects of robot joint friction can strongly influence the system control performance, and friction identification and compensation techniques play important roles in robot control applications [1][2][3]. Friction can result in 50% errors for some heavy industrial manipulators [4].…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, there is only one simple diagonal gain coefficient matrix to adjust in this algorithm, thereby avoiding excessive and complex parameter adjustment and yielding a practical method. The main contributions of this paper are as follows: (1) To the knowledge of the authors, it is the first study to introduce the total momentum concept to estimate the total joint friction, including both the motor-side friction and link-side friction; (2) a simple and fast manual tuning rule is introduced to adjust the gain coefficient of virtual sensors during the experiments; and (3) the joint torque sensors in the proposed algorithm are not needed because the motor torque is estimated by the current in our developed driver.…”

Section: Introductionmentioning

confidence: 99%

A Novel Virtual Sensor for Estimating Robot Joint Total Friction Based on Total Momentum

Fan

Fang

et al. 2019

Applied Sciences

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Robot joint friction is an important and complicated issue in improving robot control performance. In this paper, a virtual sensor based on the total generalized momentum concept is proposed to estimate the total friction torque, including both the motor-side and link-side friction, of robot joints without joint torque sensors. The proposed algorithm only requires a robot joint dynamics model and not a complex friction model dependent on factors such as time and velocity. By compensating for the estimated friction torque with a robot joint controller, the trajectory tracking performance of the controller, especially the velocity tracking performance, can be improved. To verify the effectiveness of the developed algorithm, 2-DOF planar manipulator simulations and single-joint system experiments are conducted. The simulation and experimental results show that the designed virtual sensor can effectively estimate the total joint friction disturbance and that the controller trajectory tracking performance is improved after observed friction compensation. However, the position tracking performance improvement of the controller is less than that for the velocity tracking performance improvement during the experiments. In addition, the velocity step response ability and velocity tracking performance of the controller are improved more at low velocities than that at high velocities in the experiments. The proposed algorithm has engineering and theoretical significance for estimating robot joint friction and improving the performance of robot joint controllers.

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