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

Research output: Contribution to journalArticleAcademic

35 Citations (Scopus)

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.
Original languageUndefined
Pages (from-to)944-953
JournalControl engineering practice
Volume18
Issue number8
DOIs
Publication statusPublished - 2010

Keywords

  • Synchronisation
  • IR-80172
  • Laser welding
  • Trajectory-based control
  • Trajectory generation
  • Seam tracking
  • Robotics

Cite this

@article{94ca0e05812b4a74b406663c0450ed6b,
title = "Real-time seam tracking for robotic laser welding using trajectory-based control",
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.",
keywords = "Synchronisation, IR-80172, Laser welding, Trajectory-based control, Trajectory generation, Seam tracking, Robotics",
author = "{de Graaf}, M.W. and Aarts, {Ronald G.K.M.} and Jonker, {Jan B.} and J. Meijer",
year = "2010",
doi = "10.1016/j.conengprac.2010.04.001",
language = "Undefined",
volume = "18",
pages = "944--953",
journal = "Control engineering practice",
issn = "0967-0661",
publisher = "Elsevier",
number = "8",

}

Real-time seam tracking for robotic laser welding using trajectory-based control. / de Graaf, M.W.; Aarts, Ronald G.K.M.; Jonker, Jan B.; Meijer, J.

In: Control engineering practice, Vol. 18, No. 8, 2010, p. 944-953.

Research output: Contribution to journalArticleAcademic

TY - JOUR

T1 - Real-time seam tracking for robotic laser welding using trajectory-based control

AU - de Graaf, M.W.

AU - Aarts, Ronald G.K.M.

AU - Jonker, Jan B.

AU - Meijer, J.

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

KW - Synchronisation

KW - IR-80172

KW - Laser welding

KW - Trajectory-based control

KW - Trajectory generation

KW - Seam tracking

KW - Robotics

U2 - 10.1016/j.conengprac.2010.04.001

DO - 10.1016/j.conengprac.2010.04.001

M3 - Article

VL - 18

SP - 944

EP - 953

JO - Control engineering practice

JF - Control engineering practice

SN - 0967-0661

IS - 8

ER -