Real-time seam tracking for robotic laser welding

    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

    Fingerprint

    Laser beam welding
    Robotics
    Robots
    Trajectories
    Sensors
    Manipulators
    Interpolation
    Lasers

    Cite this

    de Graaf, M., Aarts, R., Jonker, B., & Meijer, J. (2006). Real-time seam tracking for robotic laser welding. In B. de Jager, & G. Meinsma (Eds.), 25th Benelux Meeting on Systems and Control, March 13-15, 2006, Heeze, The Netherlands: Book of Abstracts (pp. 107-107). Eindhoven: Technische Universiteit Eindhoven.
    de Graaf, Menno ; Aarts, Ronald ; Jonker, Ben ; Meijer, Johan. / Real-time seam tracking for robotic laser welding. 25th Benelux Meeting on Systems and Control, March 13-15, 2006, Heeze, The Netherlands: Book of Abstracts. editor / Bram de Jager ; Gjerrit Meinsma. Eindhoven : Technische Universiteit Eindhoven, 2006. pp. 107-107
    @inproceedings{f5bd18db80f646b48ef05d64d0288f07,
    title = "Real-time seam tracking for robotic laser welding",
    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.",
    author = "{de Graaf}, Menno and Ronald Aarts and Ben Jonker and Johan Meijer",
    year = "2006",
    month = "3",
    day = "13",
    language = "English",
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    editor = "{de Jager}, Bram and Gjerrit Meinsma",
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    publisher = "Technische Universiteit Eindhoven",

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    de Graaf, M, Aarts, R, Jonker, B & Meijer, J 2006, Real-time seam tracking for robotic laser welding. in B de Jager & G Meinsma (eds), 25th Benelux Meeting on Systems and Control, March 13-15, 2006, Heeze, The Netherlands: Book of Abstracts. Technische Universiteit Eindhoven, Eindhoven, pp. 107-107, 25th Benelux Meeting on Systems and Control 2006, Heeze, Belgium, 13/03/06.

    Real-time seam tracking for robotic laser welding. / de Graaf, Menno; Aarts, Ronald; Jonker, Ben; Meijer, Johan.

    25th Benelux Meeting on Systems and Control, March 13-15, 2006, Heeze, The Netherlands: Book of Abstracts. ed. / Bram de Jager; Gjerrit Meinsma. Eindhoven : Technische Universiteit Eindhoven, 2006. p. 107-107.

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

    TY - GEN

    T1 - Real-time seam tracking for robotic laser welding

    AU - de Graaf, Menno

    AU - Aarts, Ronald

    AU - Jonker, Ben

    AU - Meijer, Johan

    PY - 2006/3/13

    Y1 - 2006/3/13

    N2 - 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.

    AB - 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.

    M3 - Conference contribution

    SN - 978-90-386-2558-4

    SP - 107

    EP - 107

    BT - 25th Benelux Meeting on Systems and Control, March 13-15, 2006, Heeze, The Netherlands

    A2 - de Jager, Bram

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    de Graaf M, Aarts R, Jonker B, Meijer J. Real-time seam tracking for robotic laser welding. In de Jager B, Meinsma G, editors, 25th Benelux Meeting on Systems and Control, March 13-15, 2006, Heeze, The Netherlands: Book of Abstracts. Eindhoven: Technische Universiteit Eindhoven. 2006. p. 107-107