Collision Avoidance of a   Welding Robot for a Large Structure (Application of Human Experience)

Naoki Asakawa; Yoshihiro Kanjo

doi:10.20965/ijat.2013.p0088

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IJAT Vol.7 No.1 pp. 88-94

doi: 10.20965/ijat.2013.p0088

(2013)

Paper:

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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

Received:

June 16, 2012

Accepted:

October 16, 2012

Published:

January 5, 2013

Keywords:

industrial robot, welding, collision avoidance

Abstract

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.

Cite this article as:

N. Asakawa and Y. Kanjo, “Collision Avoidance of a Welding Robot for a Large Structure (Application of Human Experience),” Int. J. Automation Technol., Vol.7 No.1, pp. 88-94, 2013.

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References

[1] K. Shirase, N. Tanabe, M. Hirao, and T. Yasui, “Articulated robot application in end milling of sculptured surface,” JSME Int. J, Series C, Vol.39, No.2, pp. 308-316, 1996.
[2] N. Asakawa, K. Toda, and Y. Takeuchi, “Automation of chamfering by an industrial robot; for the case of hole on free-curved surface,” Robotics and Computer Integrated Manufacturing, Elsevier Sci., Vol.18, Nos.5-6, pp. 379-385, 2002.
[3] T. Nakajima, S. Aoyagi, and M. Takano, “Automation of Personal Computer Disassembling Process Based on RECS,” Proc. of Int. Conf. on Machine Automation 2002, pp. 139-146, 2002.
[4] H. Tanaka, N. Asakawa, T. Shintani, and M. Hirao, “Development of a Forging Type Rapid Prototyping System; Automation of a Free Forging and Metal Hammering Working,” J. of Robotics and Mechatronics, Vol.17, No.5, pp. 523-528, 2005.
[5] N. Asakawa, F. Saegusa, and M. Hirao, “Automation of Deburring by a Material-Handling Robot – Generation of a Deburring Path Based on a Characteristic Model –,” Int. J. of Automation Technology, Vol.4, No.1, pp. 26-32, 2010.
[6] Y. Takeuchi and T. Watanabe, “Generation of 5-Axis Control Collision-Free Tool Path and Postprocessing for NC Data,” CIRP Annals – Manufacturing Technology, Vol.41, Issue 1, pp. 539-542, 1992.
[7] K. Morishige, K. Kase, and Y. Takeuchi, “Collision-free tool path generation using 2-dimensional C-space for 5-axis control machining,” The Int. J of Advanced Manufacturing Technology, Vol.13, No.6, pp. 393-400, 1997.
[8] K. Morishige and M. Kaneko, “Tool Path Generation for Five-Axis Controlled Machining with Consideration of Motion of Two Rotational Axes,” Int. J of Automation Technology, Vol.5, No.3, pp. 412-419, 2011.
[9] M. L. Brown and D. E. Whitney, “Stochastic dynamic programming applied to planning of robot grinding tasks,” IEEE Tran. on Robotics and Automation, Vol.10, Issue 5, pp. 594-604, 1994.
[10] H. Chen, W. Sheng, N. Xi, M. Song, and Y. Chen, “CAD-based automated robot trajectory planning for spray painting of free-form surfaces,” Industrial Robot, Vol.29, Issue 5, pp. 426-433, 2002.
[11] P. J. From, J. T. Gravdahl, T. Lillehagen, and P. Abbeel, “Motion planning and control of robotic manipulators on seaborne platforms,” Control Engineering Practice, Vol.19, Issue 8, pp. 809-819, 2011.
[12] M. Hayashi, T. Suzuki, N. Asakawa, K. Shirase, M. Hirao, and Y. Kamiya, “Automatic Off-line Teaching for Articulated Industrial Robot Having No Analytical Solution (Automatic Selection of Suitable Solution Based on Path Attribution),” Proc. of 4th Int. Symp. on Mechatronics and its Applications, 4-B, 2007.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] K. Shirase, N. Tanabe, M. Hirao, and T. Yasui, “Articulated robot application in end milling of sculptured surface,” JSME Int. J, Series C, Vol.39, No.2, pp. 308-316, 1996.

[2] [2] N. Asakawa, K. Toda, and Y. Takeuchi, “Automation of chamfering by an industrial robot; for the case of hole on free-curved surface,” Robotics and Computer Integrated Manufacturing, Elsevier Sci., Vol.18, Nos.5-6, pp. 379-385, 2002.

[3] [3] T. Nakajima, S. Aoyagi, and M. Takano, “Automation of Personal Computer Disassembling Process Based on RECS,” Proc. of Int. Conf. on Machine Automation 2002, pp. 139-146, 2002.

[4] [4] H. Tanaka, N. Asakawa, T. Shintani, and M. Hirao, “Development of a Forging Type Rapid Prototyping System; Automation of a Free Forging and Metal Hammering Working,” J. of Robotics and Mechatronics, Vol.17, No.5, pp. 523-528, 2005.

[5] [5] N. Asakawa, F. Saegusa, and M. Hirao, “Automation of Deburring by a Material-Handling Robot – Generation of a Deburring Path Based on a Characteristic Model –,” Int. J. of Automation Technology, Vol.4, No.1, pp. 26-32, 2010.

[6] [6] Y. Takeuchi and T. Watanabe, “Generation of 5-Axis Control Collision-Free Tool Path and Postprocessing for NC Data,” CIRP Annals – Manufacturing Technology, Vol.41, Issue 1, pp. 539-542, 1992.

[7] [7] K. Morishige, K. Kase, and Y. Takeuchi, “Collision-free tool path generation using 2-dimensional C-space for 5-axis control machining,” The Int. J of Advanced Manufacturing Technology, Vol.13, No.6, pp. 393-400, 1997.

[8] [8] K. Morishige and M. Kaneko, “Tool Path Generation for Five-Axis Controlled Machining with Consideration of Motion of Two Rotational Axes,” Int. J of Automation Technology, Vol.5, No.3, pp. 412-419, 2011.

[9] [9] M. L. Brown and D. E. Whitney, “Stochastic dynamic programming applied to planning of robot grinding tasks,” IEEE Tran. on Robotics and Automation, Vol.10, Issue 5, pp. 594-604, 1994.

[10] [10] H. Chen, W. Sheng, N. Xi, M. Song, and Y. Chen, “CAD-based automated robot trajectory planning for spray painting of free-form surfaces,” Industrial Robot, Vol.29, Issue 5, pp. 426-433, 2002.

[11] [11] P. J. From, J. T. Gravdahl, T. Lillehagen, and P. Abbeel, “Motion planning and control of robotic manipulators on seaborne platforms,” Control Engineering Practice, Vol.19, Issue 8, pp. 809-819, 2011.

[12] [12] M. Hayashi, T. Suzuki, N. Asakawa, K. Shirase, M. Hirao, and Y. Kamiya, “Automatic Off-line Teaching for Articulated Industrial Robot Having No Analytical Solution (Automatic Selection of Suitable Solution Based on Path Attribution),” Proc. of 4th Int. Symp. on Mechatronics and its Applications, 4-B, 2007.

Collision Avoidance of a Welding Robot for a Large Structure (Application of Human Experience)

Naoki Asakawa* and Yoshihiro Kanjo**

Naoki Asakawa^* and Yoshihiro Kanjo^**