Large diameter pipe welding robot motion analysis

Wenkuan Qu

doi:10.1117/12.3011163

1 December 2023 Large diameter pipe welding robot motion analysis

Wenkuan Qu

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129402E (2023) https://doi.org/10.1117/12.3011163
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

This study analyzes the impact of weld seam position and torch position on welding quality, including their definitions and spatial coordinate system representation. Based on this analysis, a coherent weld seam characteristic coordinate system is established, and the calculation of torch position is completed. This lays the foundation for further research on the inverse kinematics analysis of the arc welding robot. The plug-in arc welding robot is analyzed using forward and inverse kinematic analysis based on the general industrial robot. The inverse kinematic solution of the robot is then determined using the geometric method according to the specific coherent welding trajectory of the plug-in arc welding robot and its specific operation mode. The kinematic inverse solution of each joint is unique, the angle changes periodically, and its attitude meets the welding requirements of the torch, while the displacement changes of each joint can meet the working needs in the task space.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Wenkuan Qu "Large diameter pipe welding robot motion analysis", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129402E (1 December 2023); https://doi.org/10.1117/12.3011163

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