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 language | English |
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Title of host publication | 25th Benelux Meeting on Systems and Control, March 13-15, 2006, Heeze, The Netherlands |
Subtitle of host publication | Book of Abstracts |
Editors | Bram de Jager, Gjerrit Meinsma |
Place of Publication | Eindhoven |
Publisher | Technische Universiteit Eindhoven |
Pages | 107-107 |
Number of pages | 1 |
ISBN (Print) | 978-90-386-2558-4 |
Publication status | Published - 13 Mar 2006 |
Event | 25th Benelux Meeting on Systems and Control 2006 - Heeze, Belgium Duration: 13 Mar 2006 → 15 Mar 2006 Conference number: 25 |
Conference
Conference | 25th Benelux Meeting on Systems and Control 2006 |
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Country/Territory | Belgium |
City | Heeze |
Period | 13/03/06 → 15/03/06 |