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Robot Welding of Tubes

  • P. Andris
  • K. Dobrovodsky
  • P. Kurdel
Conference paper
Part of the Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich book series (AKADNIEDERÖSTER)

Abstract

A producer of tubes boilers initiated the solution of the following problem: A big diameter tube is to be welded with several tubes of small diameter. Tubes are to be welded by a robot along their intersection curves. To solve the problem, the authors modified the existing robot motion statements that were based on the interpolation of cylindrical coordinates. Trajectory generation algorithms for original and modified robot motion statements based on the quaternion representation of position are described.

Keywords

Motion Statement Destination Orientation Destination Position Reference Coordinate System Unit Quaternion 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. Andris, P. (1989). Application of quaternions to inverse kinematics problem. In: Plander, I. (Ed.). Proc. of the 5-th International Conference on Artificial Intelligence and Information Control Systems of Robots. Elsevier Science Publishers (North-Holland), Strbske pleso, Czechoslovakia, pp. 359–363Google Scholar
  2. Dobrovodsky, K. (1985). On the end-effector orientation generation. Computers and Artificial Intelligence, Vol. 5, No. 6, pp. 561–566Google Scholar

Copyright information

© Springer-Verlag/Wien 1994

Authors and Affiliations

  • P. Andris
    • 1
  • K. Dobrovodsky
    • 1
  • P. Kurdel
    • 1
  1. 1.Institute of Control Theory and RoboticsSlovak Academy of SciencesBratislavaSlovakia

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