Optimal joint motion for complicated welding geometry by a redundant robotic system

Shahabi, Mehdi; Ghariblu, H.

doi:10.1080/0305215x.2019.1630400

Cited by 8 publications

(7 citation statements)

References 45 publications

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“…Table I shows the robot joint angle limits. To avoid repetition and extension of this paper, the kinematic analysis of this manipulator we refer it to the authors previously published paper [1].…”

Section: Benchmarkingmentioning

confidence: 99%

“…The first term Xs indicates the robot base position in centimeter, while other six terms, that is, [1,2,3,4,5,6] indicate manipulator joints angles in radians. For goal state, a general default tolerance of 1e-5 length unit in position and 1e-5 radians in orientation is specified in Moveit.…”

Section: Case Studymentioning

confidence: 99%

“…Memory limit for each Table I. Robot joint angles limits of industrial welding robot CLOOS ROMAT 320 [1].…”

Section: Case Studymentioning

confidence: 99%

“…In many applications, like spot welding or multi-position welding in a large workspace, it is necessary that a robotic manipulator find a collision-free path to move from an earlier working point to the new working point [1][2][3]. The goal of motion planning in these cases is to find a collision-free path.…”

Section: Introductionmentioning

confidence: 99%

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Comparison of different sample-based motion planning methods in redundant robotic manipulators

2022

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The main objective of a motion planning algorithm is to find a collision-free path in the workspace of a robotic manipulator in a point-to-point motion. Among the various motion planning methods available, sample-based motion planning algorithms are easy to use, quick and powerful in redundant robotic systems applications. In this study, different sampling-based motion planning algorithms are employed to select the most appropriate method for efficient collision-free motion planning. As a case study, finding a collision-free robotic displacement for welding a main pipe with other intersecting pipes and joints is considered. The robotic manipulator employed in this study has seven degrees of freedom, where six degrees are related to the manipulator joints and one degree is related to its base linear movement suspended from ceiling. Five criteria, time, path length, path time, path smoothness and process time are used to evaluate the efficiency of different sample-based motion planning algorithms. Finally, a smaller set of more efficient algorithms are introduced based on the defined efficiency evaluation criteria.

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Section: Benchmarkingmentioning

confidence: 99%

Section: Case Studymentioning

confidence: 99%

“…Memory limit for each Table I. Robot joint angles limits of industrial welding robot CLOOS ROMAT 320 [1].…”

Section: Case Studymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Comparison of different sample-based motion planning methods in redundant robotic manipulators

2022

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“…Some other researchers have investigated the robot path planning with complex weld geometry. For instance, Ghariblu and Shahabi 12,13 presented a method for path planning of complex pipe joints with redundant robotic systems. Xianxi et al 14 also presented an optimal path tracking formulation focusing on the least time and energy consumption for industrial robots.…”

Section: Introductionmentioning

confidence: 99%

Path Planning Methodology for Multi-Layer Welding of Intersecting Pipes Considering Collision Avoidance

et al. 2020

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SUMMARY The V-groove joint of thick wall intersecting pipes must be filled by multi-layer weld. The welding path of intersecting pipes is complicated, and hence multi-layer welds increase the complexity of the problem. This paper proposes a methodology for path planning of multi-layer weld of thick wall intersecting pipes. The methodology is based on measuring the electrode pose located in both side and front views of intersecting pipes. In order to compensate for the path deviation around the pipe circumference, the measured values are used to interpolate the path of each pass between two views. The methodology has been applied in a case study. Simulation results approve that multi-layer weld appropriately fills the V-groove joint space around the pipe circumference. In addition, collision avoidance between welding torch and pipes is considered by introducing a safety ring. While the robot wrist moves inside the safety ring, no collision occurs. Simulation results show the robustness of the proposed path planning method, introduced for collision avoidance.

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Generation of the Self-motion Manifolds of a Functionally Redundant Robot Using Multi-objective Optimization

Banfield

Rodríguez

2021

Robotics for Sustainable Future

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Optimal joint motion for complicated welding geometry by a redundant robotic system

Cited by 8 publications

References 45 publications

Comparison of different sample-based motion planning methods in redundant robotic manipulators

Comparison of different sample-based motion planning methods in redundant robotic manipulators

Path Planning Methodology for Multi-Layer Welding of Intersecting Pipes Considering Collision Avoidance

Generation of the Self-motion Manifolds of a Functionally Redundant Robot Using Multi-objective Optimization

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