An optimal trajectory control strategy for underwater welding robot
The underwater welding robots are replacing humans in several harsh working environments however further strategies are required to achieve better control of robotic motion in order to extend their utility. This paper presents a smooth trajectory control strategy to improve the welding quality and e...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
The Japan Society of Mechanical Engineers
2018-01-01
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| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/12/1/12_2018jamdsm0008/_pdf/-char/en |
| _version_ | 1828271619678666752 |
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| author | Lintao XIANG Xiaopeng XIE Xiaohui LU |
| author_facet | Lintao XIANG Xiaopeng XIE Xiaohui LU |
| author_sort | Lintao XIANG |
| collection | DOAJ |
| description | The underwater welding robots are replacing humans in several harsh working environments however further strategies are required to achieve better control of robotic motion in order to extend their utility. This paper presents a smooth trajectory control strategy to improve the welding quality and efficiency using an underwater welding robot to perform the arc welding process. First, a mathematical model of the underwater welding robot is established using the D-H parameter method. Second kinematics equations for the movement of the robot are deduced. To improve the accuracy of the trajectory, the tool coordinate system is calibrated using the six-point method. Finally, linear interpolation with parabolic transition is combined with a six-dimensional space vector to develop a Cartesian space trajectory planning for the robot, which can ensure a smooth welding process. The results show that by using the above control strategy for underwater welding experiments, a smooth welding seam is achieved, which improves the weld quality and shortens the time taken to complete the weld. |
| first_indexed | 2024-04-13T05:55:50Z |
| format | Article |
| id | doaj.art-5b9c08d1736847858dffc9e1c4a2a5d4 |
| institution | Directory Open Access Journal |
| issn | 1881-3054 |
| language | English |
| last_indexed | 2024-04-13T05:55:50Z |
| publishDate | 2018-01-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| spelling | doaj.art-5b9c08d1736847858dffc9e1c4a2a5d42022-12-22T02:59:38ZengThe Japan Society of Mechanical EngineersJournal of Advanced Mechanical Design, Systems, and Manufacturing1881-30542018-01-01121JAMDSM0008JAMDSM000810.1299/jamdsm.2018jamdsm0008jamdsmAn optimal trajectory control strategy for underwater welding robotLintao XIANG0Xiaopeng XIE1Xiaohui LU2School of Mechanical and Automotive Engineering South China University of TechnologySchool of Mechanical and Automotive Engineering South China University of TechnologySchool of Mechanical and Automotive Engineering South China University of TechnologyThe underwater welding robots are replacing humans in several harsh working environments however further strategies are required to achieve better control of robotic motion in order to extend their utility. This paper presents a smooth trajectory control strategy to improve the welding quality and efficiency using an underwater welding robot to perform the arc welding process. First, a mathematical model of the underwater welding robot is established using the D-H parameter method. Second kinematics equations for the movement of the robot are deduced. To improve the accuracy of the trajectory, the tool coordinate system is calibrated using the six-point method. Finally, linear interpolation with parabolic transition is combined with a six-dimensional space vector to develop a Cartesian space trajectory planning for the robot, which can ensure a smooth welding process. The results show that by using the above control strategy for underwater welding experiments, a smooth welding seam is achieved, which improves the weld quality and shortens the time taken to complete the weld.https://www.jstage.jst.go.jp/article/jamdsm/12/1/12_2018jamdsm0008/_pdf/-char/enunderwater welding robottool coordinate system calibrationposturetrajectory planning |
| spellingShingle | Lintao XIANG Xiaopeng XIE Xiaohui LU An optimal trajectory control strategy for underwater welding robot Journal of Advanced Mechanical Design, Systems, and Manufacturing underwater welding robot tool coordinate system calibration posture trajectory planning |
| title | An optimal trajectory control strategy for underwater welding robot |
| title_full | An optimal trajectory control strategy for underwater welding robot |
| title_fullStr | An optimal trajectory control strategy for underwater welding robot |
| title_full_unstemmed | An optimal trajectory control strategy for underwater welding robot |
| title_short | An optimal trajectory control strategy for underwater welding robot |
| title_sort | optimal trajectory control strategy for underwater welding robot |
| topic | underwater welding robot tool coordinate system calibration posture trajectory planning |
| url | https://www.jstage.jst.go.jp/article/jamdsm/12/1/12_2018jamdsm0008/_pdf/-char/en |
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