Welding robots

Pires, J. Norberto; Loureiro, A.; Godinho, T.; Ferreira, Pedro; Fernando, Bharana; Morgado, José Mário

doi:10.1109/mra.2003.1213616

Cited by 51 publications

(27 citation statements)

References 6 publications

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“…For instance, fabrication processes often consist of joining together two parts by using welding robots [16][17]. Many experiments have been carried out, with three different strategies proposed by the authors.…”

Section: Reconstruction Of Panels Forming a Right Anglementioning

confidence: 99%

New Methods for Robotic Perception by Using in-Air Sonar Data

Giannoccaro

Spedicato

2016

International Journal of Advanced Robotic Systems

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In recent years, the authors studied the possibility of using low frequency in-air ultrasonic sensors in several applications of robotic interest related to the perception and the reconstruction of the external environment.They introduced several methods based on innovative mathematical tools for solving problems, such as the position detection and orientation of a mobile robot with respect to a corridor wall, the correct reconstruction of two orthogonal panels in spite of the effect of multiple reflections affecting the data in the corner zone, and the reconstruction of the boundary walls of a room environment.All the proposed innovative strategies were tested on a designed mechatronic scanning system consisting of ultrasonic sensors rotated by a servo modular actuator and also with the data from a scanning validated model.In this review, the main steps and achievements will be presented so as to summarize the research work of recent years as well as reflect on the importance of appropriate and innovative techniques regarding ultrasonic data processing. The originality of the present work concerns the possibility of disposing all the developed approaches as a whole in order to use in-air ultrasonic sensors for robotic perception in several environmental situations.

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Section: Reconstruction Of Panels Forming a Right Anglementioning

confidence: 99%

New Methods for Robotic Perception by Using in-Air Sonar Data

Giannoccaro

Spedicato

2016

International Journal of Advanced Robotic Systems

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“…The robot technology is continuously developing with the wide-scale use of robots for the products processing and maintenance in manufacturing enterprises at home and abroad. Robots with 6-SPS series mechanism, have high flexibility and wide working space, can slick avoid the obstacle, are widely used in the craft process of arc welding and paint spraying [1] [2] .With the widely application of robots, it seems especially important to study the basic theory, concrete structure and design technique [3]. The kinematics of robots with six degrees of freedom tandem joints is complicated [4] [5].…”

Section: Introductionmentioning

confidence: 99%

Algorithm Research and Simulation of Robot Inverse Kinematics Solution

Zhou¹,

Fu²,

Lin³

2016

Proceedings of the 2nd International Conference on Advances in Mechanical Engineering and Industrial Informatics (AMEII 2016)

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Based on the research prototype of six-joint robot, Googol GRB3016, the virtual prototyping model was built by utilizing the dynamics analytic software ADAMS of mechanical system. This article sets up the constraint parameters and carries out the inverse kinematics simulation of the manipulators' motion along the space spiral trajectory. The curve of location, angular velocity and accelerated velocity are worked out in the post-processing module. The simulation shows manipulators' movement is continuous and stable as well as has no obvious impact. The design accuracy of robots is improved through 3D simulation research which well solved the difficulty of precise parameters in the design of robot body.

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“…Welding operations have been required in various manufacturing industries, such as car and shipbuilding, among others [1]. Since productivity and the quality of the products can be remarkably improved if welding operations are automated, extensive research about autonomous robotic welding has been carried out.…”

Section: Introductionmentioning

confidence: 99%

Hand-eye LRF-based Iterative Plane Detection Method for Autonomous Robotic Welding

Park

2015

Int. j. adv. robot. syst.

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This paper proposes a hand-eye LRF-based (laser range finder) welding plane-detection method for autonomous robotic welding in the field of shipbuilding. The hand-eye LRF system consists of a 6 DOF manipulator and an LRF attached to the wrist of the manipulator. The welding plane is detected by the LRF with only the wrist's rotation to minimize a mechanical error caused by the manipulator's motion. A position on the plane is determined as an average position of the detected points on the plane, and a normal vector to the plane is determined by applying PCA (principal component analysis) to the detected points. In this case, the accuracy of the detected plane is analysed by simulations with respect to the wrist's angle interval and the plane angle. As a result of the analysis, an iterative plane-detection method with the manipulator's alignment motion is proposed to improve the performance of plane detection. For verifying the feasibility and effectiveness of the proposed plane-detection method, experiments are carried out with a prototype of the hand-eye LRF-based system, which consists of a 1 DOF wrist's joint, an LRF system and a rotatable plane. In addition, the experimental results of the PCA-based plane detection method are compared with those of the two representative planedetection methods, based on RANSAC (RANdom SAmple Consensus) and the 3D Hough transform in both accuracy and computation time's points of view.

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Welding robots

Cited by 51 publications

References 6 publications

New Methods for Robotic Perception by Using in-Air Sonar Data

New Methods for Robotic Perception by Using in-Air Sonar Data

Algorithm Research and Simulation of Robot Inverse Kinematics Solution

Hand-eye LRF-based Iterative Plane Detection Method for Autonomous Robotic Welding

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