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

M.W. de Graaf, Ronald G.K.M. Aarts, Jan B. Jonker, J. Meijer

Research output: Contribution to journalArticleAcademic

36 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

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