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题名:
Predictive seam tracking with iteratively learned feedforward compensation for high-precision robotic laser welding
作者: Luo ZJ(罗振军); Dai JS(戴建生); Wang CY(王琛元); Wang FL(王凤丽); Tian YL(田永利); Zhao MY(赵明扬)
作者部门: 装备制造技术研究室
通讯作者: 戴建生
刊名: JOURNAL OF MANUFACTURING SYSTEMS
ISSN号: 0278-6125
出版日期: 2012
卷号: 31, 期号:1, 页码:2-7
收录类别: SCI ; EI
EI收录号: 20120514735502
WOS记录号: WOS:000301165200002
产权排序: 3
摘要: In this paper, a novel architecture for robotic seam tracking using an industrial robot and off-the-shelf sensors is proposed to compensate the residual errors that are commonly observed in high-precision robotic laser welding due to the nonlinearity of a seam and the fast path drifts along a robot path. Our experiments demonstrate that the robot system can track both linear and nonlinear long seams at a high speed of 100 mm/s with TCP offset-error within +/- 0.1 mm using the proposed method.
语种: 英语
WOS标题词: Science & Technology ; Technology
类目[WOS]: Engineering, Industrial ; Engineering, Manufacturing ; Operations Research & Management Science
研究领域[WOS]: Engineering ; Operations Research & Management Science
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/9947
Appears in Collections:装备制造技术研究室_期刊论文

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作者单位: 1.Centre for Advanced Mechanisms and Robotics (CAMAR), Tianjin University, Tianjin 300072, China
2.Key Laboratory of Ministry of Education on Mechanisms and Equipment, Tianjin 300072, China
3.Shenyang Institute of Automation, Shenyang 110016, China
4.SIASUN Robotics and Automation Ltd., Shenyang 110186, China
5.King's College, University of London, London, WC2 2LS, United Kingdom

Recommended Citation:
Luo ZJ,Dai JS,Wang CY,et al. Predictive seam tracking with iteratively learned feedforward compensation for high-precision robotic laser welding[J]. JOURNAL OF MANUFACTURING SYSTEMS,2012,31(1):2-7.
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文件名: Predictive seam tracking with iteratively learned feedforward compensation for high-precision robotic laser welding.pdf
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