Kinematical modeling of mobile welding robot for lattice type seam tracking

Gao, Yanfeng; Zhang, Hua; Yanhui, Ye

doi:10.1109/icicip.2011.6008264

Cited by 3 publications

(2 citation statements)

References 8 publications

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“…Much research is being carried out to solve these problems [23]. Researchers [24]- [26] have presented intelligent mobile robots for welding on spherical tanks where the robot base is fixed on tank surface and the manipulator travels on the spherical surface. A welding mobile manipulator may combine a moving platform and a robotic manipulator to increase mobility and dexterous space of the robot for use in an automated manufacturing environment.…”

Section: Introductionmentioning

confidence: 99%

Workspace Design and Trajectory Planning of a Five Degree of Freedom Mobile Welding Manipulator for Spherical Objects

et al. 2021

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Mobile Manipulators (MM) has attracted a lot of researchers for incorporation in the robotics field owning to their multitude of applications in real world. Welding automation has its wide applications in industry like automobile manufacturing and power generation industry involving spherical tanks. The objective of this study is to design workspace and devise a methodology to plan position trajectory of welding tool that produces smooth welding while the mobile platform turns simultaneously. The robot proposed in this paper has the manipulator mounted on a platform moving as a turntable to increase the workspace and enhances the mobility of the manipulator. The earlier produces linear segment of weld while the later produces parabolic segment. The kinematic equations for mobile platform and the mounted manipulator are described in detail. The workspace of the robot is visualized based on computations of transformation matrices and jacobians structured based on kinematic equation. Trajectories for each joint, computed using inverse kinematic equations, are also presented. For spherical trajectories the solution of system equations is combined with constraint values for each manipulator joint, thus allowing computation of desired joint position at any time interval. The efficacy of the proposed methodology for the trajectory planning is tested through a case study. The simulation results of motion transformation, workspace and trajectory show that linear segments of the trajectory combine with parabolic trajectory segments smoothly with zero acceleration within designed reachable workspace. The experimental results verify the efficacy of application of presented kinematic and inverse kinematic models for welding of spherical objects.

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Section: Introductionmentioning

confidence: 99%

Workspace Design and Trajectory Planning of a Five Degree of Freedom Mobile Welding Manipulator for Spherical Objects

et al. 2021

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“…Byoung et al introduced a PID controller on the welding mobile robot to realize the line tracking (Kam et al, 2001). Yanfeng et al proposed a predictive fuzzy control and neural network control for the unicycle-modeled mobile welding robot (Yanfeng et al, 2011b;2011a;. Li et al also proposed a tracking control algorithm using fuzzy-Gaussian network and Lyapunov method for the mobile welding robot (Kai et al, 2009a;2009b;Ting et al, 2009;Zhang et al, 2009).…”

Section: Introductionmentioning

confidence: 99%

Localization and tracking control for mobile welding robot

Tang¹

2014

Industrial Robot: An International Journal

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2014),"Modeling of underwater wet welding process based on visual and arc sensor", If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The purpose of this paper is to design the localization and tracking algorithms for our mobile welding robot to carry out the large steel structure welding operations in industrial environment. Design/methodology/approach -Extended Kalman filter, considering the bicycle-modeled robot, is adopted in the localization algorithm. The position and orientation of our mobile welding robot is estimated using the feedback of the laser sensor and the robot motion commands history. A backstepping variable is involved in the tracking algorithm. By introducing a specifically selected Lyapunov function, we proved the tracking algorithm using Barbalat Lemma, which leads the errors of estimated robot states to converge to zero. Findings -The experiments show that the proposed localization method is fast and accurate and the tracking algorithm is robust to track straight lines, circles and other typical industrial curve shapes. The proposed localization and tracking algorithm could be used, but not limited to the mobile welding. Originality/value -Localization problem which is neglected in previous research is very important in mobile welding. The proposed localization algorithm could estimate the robot states timely and accurately, and no additional sensors are needed. Furthermore, using the estimated robot states, we proposed and proved a tracking algorithm for bicycle-modeled mobile robots which could be used in welding as well as other industrial operation scenarios.

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A survey of platform designs for portable robotic welding in large scale structures

Dharmawan

Vibhute

Foong

et al. 2014

2014 13th International Conference on Control Automation Robotics &Amp; Vision (ICARCV)

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Automated welding has been very effective in enhancing the quality and quantity of weld jobs along with improving the safety of the workers. Nevertheless, most existing welding robots are massive and immobile. Typically, the workpieces are transferred to the robots for welding. This makes it difficult for many welding applications that have large scale structures e.g. shipbuilding, construction, on-site repair work, etc. In these cases, the welding robot should be able to be transported to the work-pieces. The purpose of this paper is to explore and study various recent developments in portable welding robot designs. Based on this, several strategies of designing portable welding robot are classified and discussed.

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Kinematical modeling of mobile welding robot for lattice type seam tracking

Cited by 3 publications

References 8 publications

Workspace Design and Trajectory Planning of a Five Degree of Freedom Mobile Welding Manipulator for Spherical Objects

Workspace Design and Trajectory Planning of a Five Degree of Freedom Mobile Welding Manipulator for Spherical Objects

Localization and tracking control for mobile welding robot

A survey of platform designs for portable robotic welding in large scale structures

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