An industrial application of control of dynamic behavior of robots-a walk-through programmed welding robot

Author

Ang, Marcelo H., Jr. ; Wei, Lin ; Yong, Lim Ser

Author_Institution

Dept. of Mech. & Production Eng., Nat. Univ. of Singapore, Singapore

Volume

3

fYear

2000

fDate

2000

Firstpage

2352

Abstract

Robot programming is a very tedious task that involves defining the relevant robot positions and configurations, and writing the robot program to execute the task. In this paper, we present an application of the control of the dynamic behavior of robotic manipulators to achieve walk-through programming of a powered arm. The algorithm is based on impedance control with zero stiffness to allow the robot to be moved by the human hand during walk-through teaching. We demonstrate the application using a welding robot we have customized and improved on for use in shipyards. We describe the architecture, our methodologies, the practical issues and present the results of our performance evaluation

Keywords

civil engineering; industrial manipulators; manipulator dynamics; robot programming; welding; impedance control; industrial robot dynamics control; powered arm; robot programming; shipyards; walk-through programmed welding robot; walk-through teaching; zero stiffness; Dynamic programming; Educational robots; Humans; Impedance; Industrial control; Legged locomotion; Manipulator dynamics; Robot programming; Service robots; Writing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.846378

Filename

846378