Robot Welding of Tubes
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.
KeywordsMotion Statement Destination Orientation Destination Position Reference Coordinate System Unit Quaternion
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