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Adaptive pass planning and optimization for robotic welding of complex joints

Advances in Manufacturing 2017年第2期5卷 93-104页

作者： H. C. Fang S. K. Ong A. Y. C. Nee Department of Mechanical Engineering Faculty ofEngineering National University of SingaporeSingapore 117575 Singapore

Current industrial robotic welding systems can- not achieve automated solutions for multi-layer multi-pass welding of complex joints due to the presence of non- uniform and irregular welding groove geometries. This paper presents an adaptive pass planning approach for robotic welding of such complex joints. The welding groove is first segmented considering both the variation in groove dimension and the reachability of the robot welding torch. For each welding segment, the welding passes are planned to be in accordance with welding practices, viz., keeping the same number of welding passes in each layer while maintaining consistent welding parameters. An adaptive pass adjustment scheme is developed to address the discrepancies between the simulated results and the actual welding deposition after finishing a few layers of welding. Corresponding robot paths are generated and optimized to ensure minimum joint movement subject to three constraints, viz., reachability, collision-free and singularity avoidance. The proposed approach has been sim- ulated with the arc welding of a Y-type joint found typically in offshore structures.

关键词： robotic welding Multi-pass planning - Pass adjustment Robot path planning

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Path Planning of Planar Kinked Line Seam by Visual Servoing for robotic welding

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Journal of Shanghai Jiaotong university(Science) 2007年第3期12卷 328-332页

作者：周律林涛陈善本 Inst. of welding Technology Shanghai Jiaotong Univ.

welding path planning can substitute for the manual teaching process of the robot and can promote the autonomous level of the robotic welding. A path planning method by visual servoing was presented, in which the optimal angle of charge-coupled device (CCD) camera was also planned. Aiming at planning two forms of kinked line seams, obtuse angle seam and right angle seam, a practicable solution was put forward. In this solution, the intersection of two adjacent straight segments is detected in each local seam image, and if intersection is found, the seam errors are calculated using the next straight segment. The experimental results show that kinked line seam can be well planned using this solution.

关键词： robotic welding path planning visual servoing kinked line

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An　approach　of　artificial　neural　network　to　robotic　welding　process　modelling

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China welding 1995年第1期4卷 70-80页

作者： Li Yan (Harbin Research Institute of weldingJohn Norrish and T.E.B.Ogunbiyi Cranfield Institute of Technology,U.K.)

Artificial neural networks(ANNs)have been investigated for application to robotic welding *** types of the ANN models are *** first is a static modeling approach for the pre-setting of robotic welding parameters, and the other is a dynamic modelling for real time feedback control of robotic *** models map the relationship between the weld bead geometry and welding process *** basic concepts relating to neural networks are discussed. The performance of neural networks for modelling is discussed and evaluated by using actual robotic welding *** is concluded that neural network is capable of modeling readily and quickly a multivariable welding process and the accuracy of neural networks modelling is comparable with the accuracy achieved by the statistical scheme. The choice between ANN and statistical models will depend on the application and control strategy used.

关键词： artificial neural network weld modeling robotic welding

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ON INTELLIGENTIZED TECHNOLOGIES FOR MODERN welding MANUFACTURING

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Chinese Journal of Mechanical Engineering 2003年第4期16卷 367-370页

作者： Chen ShanbenQiu TaoLin TaoWu YixiongInstitute of welding Engineering,Shanghai Jiaotong University,Shanghai 200030, China Institute of welding Engineering Shanghai Jiaotong University 上海 200030

A short survey on researching and developing status of intelligenttechnologies in modem welding manufacturing is given. According to the developing trend of advancedmanufacturing technology, a concept on intelligentized welding manufacturing engineering (IWME), ispresented for systematization of researching and developing domains on welding automation,intelligentized welding, robotic and flexible welding and advanced welding manufacturingtechnologies. And key technologies of welding intelligent manufacturing and its developing trend inthe future are investigated.

关键词： Intelligentized technology welding manufacturing engineering Intelligentcontrol robotic welding welding automation

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