Vibration Test on Welding Robot

Li, Hong; Huang, Di; Huang, Wei

doi:10.1016/j.procs.2020.02.091

Cited by 3 publications

(2 citation statements)

References 2 publications

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“…Welding is an essential part of manufacturing industry, and welding robots are widely used to decrease costs, improve quality and increase productivity in which quality is one of the most important considerations in the welding process [1][2][3][4]. In the process of operation, vibration inevitably occurs in the welding robot system due to multi-source excitation such as the motor drive and welding gun impact vibration.…”

Section: Introductionmentioning

confidence: 99%

Resonance Suppression of a Controllable Mechanism Welding Robot End with Central Composite Design Methodology

Shi

Huang

2022

Applied Sciences

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Aiming to achieve resonance suppression of a controllable mechanism welding robot end using dynamic modeling and experimental verification, this paper applies a central composite design methodology to optimize suppression resonance using three variables: excitation source, rod stiffness and damping. Considering the coupling effects of the excitation source, member stiffness and damping, a combination optimization is carried out, and the optimal control result of the end is obtained, for which the optimized peak amplitudes are significantly reduced. The research provides an important technical basis for the dynamic design and resonance suppression control of controllable welding robot mechanisms.

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Section: Introductionmentioning

confidence: 99%

Resonance Suppression of a Controllable Mechanism Welding Robot End with Central Composite Design Methodology

Shi

Huang

2022

Applied Sciences

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“…A first contribution of this paper is the evaluation of the open-source control interface based on standard Motoman driver package [27] created with the cooperation of Yaskawa Motoman, in order to check its effectiveness for teleoperation tasks. It should be noted that Yaskawa robots are used in different fields such as surgery [28], pick and place [29], welding [30], etc. Recently, NASA selected its Motoman SIA50 robots for teleoperation demonstration [31].…”

Section: Introductionmentioning

confidence: 99%

On the Improvement of ROS-Based Control for Teleoperated Yaskawa Robots

Baklouti¹,

Gallot²,

Viaud³

et al. 2021

Applied Sciences

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This paper deals with Yaskawa robots controlling the Robot Operating System (ROS) for teleoperation tasks. The integration of an open-source ROS interface based on standard Motoman packages into control loop leads to large trajectory tracking errors and latency, which are unsuitable for robotic teleoperation. An improved version of the standard ROS-based control is proposed by adding a new velocity control mode into the standard Motoman ROS driver. These two approaches are compared in terms of response time and tracking delay. Investigations applied on the Yaskawa GP8 robot while using the proposed improved ROS-based control confirmed trajectory tracking and latency improvements, which can achieve 43% with respect to standard control.

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