Real-time seam tracking for robotic laser welding

Menno de Graaf, Ronald Aarts, Ben Jonker, Johan Meijer

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

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    Abstract

    Laser welding puts high demands on the robot or manipulator used, as it requires a high tracking accuracy (down to 0.1 mm) at high velocities (up to 250 mm/s). Sensors measuring the position of the laser focal point relative to the seam to be welded are therefore required to make robotic laser welding successful in a production environment. To use sensor information for real-time seam-tracking a special control architecture called trajectory based control has been developed. It uses a trajectory generator based on cubic interpolation, where Cartesian locations (position and orientation) can be added on-the-fly during the robot motion. This way sensor information obtained during the robot motion is used to generate the robot trajectory in real-time.
    Original languageEnglish
    Title of host publication25th Benelux Meeting on Systems and Control, March 13-15, 2006, Heeze, The Netherlands
    Subtitle of host publicationBook of Abstracts
    EditorsBram de Jager, Gjerrit Meinsma
    Place of PublicationEindhoven
    PublisherTechnische Universiteit Eindhoven
    Pages107-107
    Number of pages1
    ISBN (Print)978-90-386-2558-4
    Publication statusPublished - 13 Mar 2006
    Event25th Benelux Meeting on Systems and Control 2006 - Heeze, Belgium
    Duration: 13 Mar 200615 Mar 2006
    Conference number: 25

    Conference

    Conference25th Benelux Meeting on Systems and Control 2006
    CountryBelgium
    CityHeeze
    Period13/03/0615/03/06

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