Title :
Emulating manual welding process by two cooperative robots
Author :
Yahui Gan ; Xianzhong Dai ; Qi Da
Author_Institution :
Sch. of Autom., Southeast Univ., Nanjing, China
Abstract :
The problem of how to emulate a manual welding process by two cooperative robotic manipulators is investigated in this paper. The emulating process is intrinsically a trajectory planning process for the two cooperative robots. Experience of skilled welders and technical requirements in a welding process have been modeled and integrated into the robot trajectory planning model. Mathematic model of trajectory planing for two cooperative robots doing a welding task is in a constrained optimization form. A Genetic Algorithm solver has been adopted to solve such an optimization problem. Pipe-connect-pipe welding experiment has been carried out at the end of the paper and the weld results verified the effectiveness of our method.
Keywords :
control engineering computing; genetic algorithms; humanoid robots; industrial manipulators; multi-robot systems; path planning; pipes; process control; production engineering computing; robotic welding; trajectory control; constrained optimization form; cooperative robotic manipulators; genetic algorithm solver; humanoid robots; manual welding process emulation; mathematic model; pipe-connect-pipe welding experiment; robot trajectory planning model; technical requirements; trajectory planning process; welding task; Joints; Robot kinematics; Service robots; Trajectory; Transportation; Welding; Genetic Algorithm; Pipe-connect-pipe welding; cooperative robot; emulate manual welding;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896412
