Title :
Optimal Motion Planning of All Position Autonomous Mobile Welding Robot System for Fillet Seams
Author :
Tao Zhang ; Shanben Chen ; Minghui Wu ; Yanzheng Zhao ; XiaoQi Chen
Author_Institution :
Inst. of Welding Eng., Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
This paper analyzes the motion planning of a custom-built all position autonomous mobile welding robot. It proposes a novel motion planning method that allows the robot to complete fillet seam welding while the vehicle turns around the right angle seam simultaneously. The global optimal solution is obtained through model modification.
Keywords :
mobile robots; optimal control; path planning; robotic welding; custom-built all position autonomous mobile welding robot system; fillet seam welding; global optimal solution; model modification; optimal motion planning; right angle seam; Kinematics; Mobile robots; Motion planning; Optimization; Turning; Welding; Kinematics; mobile welding robot; motion planning; optimization model; right angle seams;
Journal_Title :
Automation Science and Engineering, IEEE Transactions on
DOI :
10.1109/TASE.2013.2252462
