Control system architecture for robotic welding of tubular joints
Conference
·
OSTI ID:443004
- Aalborg Univ. (Denmark)
This paper presents the architecture of a geometry model and sensor based control system for robotic welding of tubular joints. The functional architecture of the system is described with the main emphasis on the overall mode of operation of the system. Furthermore, it is described how measurements of the physical seam profile are used to update a reference geometry model, and how welding control variables are generated based on the updated reference geometry. Finally, it is illustrated how the use of a reference geometry can improve the flexibility and robustness of the system.
- OSTI ID:
- 443004
- Report Number(s):
- CONF-950682-; ISBN 0-87170-567-2; TRN: IM9712%%429
- Resource Relation:
- Conference: 4. international conference on trends in welding research, Gatlinburg, TN (United States), 5-9 Jun 1995; Other Information: PBD: 1996; Related Information: Is Part Of Trends in welding research: Proceedings of the 4. international conference; Smartt, H.B.; Johnson, J.A. [eds.] [Idaho National Engineering Lab., Idaho Falls, ID (United States)]; David, S.A. [ed.] [Oak Ridge National Lab., TN (United States)]; PB: 836 p.
- Country of Publication:
- United States
- Language:
- English
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