Real-time seam tracking for robotic laser welding

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

Real-time seam tracking for robotic laser welding

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic

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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 language	English
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
Country	Belgium
City	Heeze
Period	13/03/06 → 15/03/06

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Cite this

@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",

isbn = "978-90-386-2558-4",

pages = "107--107",

editor = "{de Jager}, Bram and Gjerrit Meinsma",

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

publisher = "Technische Universiteit Eindhoven",

}

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 proceeding › Conference contribution › Academic

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

A2 - Meinsma, Gjerrit

PB - Technische Universiteit Eindhoven

CY - Eindhoven

ER -