An implementation of a generic algorithm for robotic welding programming

A methodology for programming a redundant, multiple-robot system for concurrent motion is discussed. A general programming algorithm is proposed which allows the user to treat multiple robots as a single kinematic mechanism. The algorithm eliminates joint redundancy by imposing task-specific constraints on the manipulator motions. As a result the programming process is greatly simplified. The authors review the algorithm and demonstrate its use for robotic gas tungsten arc welding where appropriate constraints are imposed. Implementation and simulation results are presented