Abstract
In order to meet the demands of the welding of large scaled workpieces, a welding robot is designed with 9 motion joints and 6 degrees of freedom. Two groups of macro and micro motion mechanisms are adopted for large travel and high positioning precision. The welding trajectory is taught grossly in Cartesian space, and the motion of joints is planned in joint space with the kinematics model of the welding robot. A method of motion control of macro and micro joints is presented for stability and precision in seam tracking. Experimental results verified the effectiveness of the mechanisms of welding robot and the control system.
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© 2008 Springer-Verlag Berlin Heidelberg
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Li, Y., Wang, Q., Yan, Z., Xu, D., Tan, M. (2008). Design and Coordinated Motion Control of a Welding Robot for Large Scale Workpieces. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_12
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DOI: https://doi.org/10.1007/978-3-540-88513-9_12
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
Online ISBN: 978-3-540-88513-9
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