Collision Avoidance of a Welding Robot for a Large Structure (Application of Human Experience)
Naoki Asakawa* and Yoshihiro Kanjo**
*Faculty of Mechanical Engineering, Institute of Science and Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Ishikawa 920-1192, Japan
**Turumi-Works, JFE Engineering Corp., Suehiro-chou, Turumi-ku, Yokohama-city, Kanagawa-pref, Japan
The study deals with the automatic generation of a program with collision avoidance for a welding robot for a large structure. An industrial robot used for welding large structures must consider collisions between the tool and workpiece, the robot arm and workpiece, and with surrounding objects. In the study, the experiences of skilled workers are used to consider collision problems while generating a robot control program. Through the experiment, the system was found to have the ability to resolve collision problems.
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