Real-time seam tracking for robotic laser welding using trajectory-based control

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Graaf, Menno de and Aarts, Ronald and Jonker, Ben and Meijer, Johan (2010) Real-time seam tracking for robotic laser welding using trajectory-based control. Control Engineering Practice, 18 (8). pp. 944-953. ISSN 0967-0661

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Abstract:In this paper a real-time seam tracking algorithm is proposed that can cope with the accuracy demands of robotic laser welding. A trajectory-based control architecture is presented, which had to be developed for this seam tracking algorithm. Cartesian locations (position and orientation) are added to the robot trajectory during the robot motion. In this way, sensor information obtained during the robot motion is used to generate the robot trajectory while moving. Experiments have been performed to prove the tracking capabilities of the seam tracking algorithm.
Item Type:Article
Copyright:© 2010 Elsevier
Faculty:
Engineering Technology (CTW)
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Link to this item:http://purl.utwente.nl/publications/80172
Official URL:http://dx.doi.org/10.1016/j.conengprac.2010.04.001
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