Top > IJAT > Collision Avoidance of a Welding Robot for a Large Structure ...

single-au.php

IJAT Vol.7 No.2 pp. 190-195
doi: 10.20965/ijat.2013.p0190
(2013)

Paper:

Views over last 60 days: 781

Collision Avoidance of a Welding Robot for a Large Structure (Application of Potential Field)

Naoki Asakawa* and Yoshihiro Kanjo**

*Faculty of Mechanical Engineering, Institute of Science and Engineering, Kanazawa University, Kakuma-machi, Kanazawa-shi, Ishikawa 920-1192, Japan

**Turumi Works, JFE Engineering Corp., Suehiro-cho, Tsurumi-ku, Yokohama-shi, Kanagawa 230-8611, Japan

Received:
January 10, 2013
Accepted:
February 21, 2013
Published:
March 5, 2013
Creative Commons License
Keywords:
industrial robot, welding, collision avoidance
Abstract
This study deals with the automation of welding by generating control commands for a welding robot automatically. Generally, a movement of a robot is decided depending on the tool path – a series of positions and postures of the tool attached to the mechanical interface of the robot. We tried to generate the tool path focused on the collision avoidance of the welding tool on the basis of CAD data on the workpiece. In the study, to cope with a characteristic of welding, the requirement to be continuous in tool velocity and posture, the tool path is generated through the use of a potential field in a configuration space. As a result, the system is found to successfully generate smooth and collision-free tool paths.
Cite this article as:
N. Asakawa and Y. Kanjo, “Collision Avoidance of a Welding Robot for a Large Structure (Application of Potential Field),” Int. J. Automation Technol., Vol.7 No.2, pp. 190-195, 2013.
Data files:
References
  1. [1] K. Shirase, N. Tanabe, M. Hirao, and T. Yasui, “Articulated robot application in end milling of sculptured surface,” JSME Intl. 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 –,” Intl. 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 Intl. 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,” Intl. J. of Automation Technology, Vol.5, No.3, pp. 412-419, 2011.
  9. [9] M. Brown and D. Whitney, “Stochastic dynamic programming applied to planning of robot grinding tasks,” IEEE Trans. on Robotics and Automation, Vol.10, Issue 5, pp. 594-604, 1994.
  10. [10] N. Asakawa and Y. Kanjio, “Collision Avoidance of a Welding Robot for a Large Structure (Application of Human Experience),” Intl. J. of Automation Technology, Vol.7, No.1, pp. 88-94, 2013.
  11. [11] L. Valbuena and H. G. Tanner, “Hybrid Potential Field Based Control of Differential Drive Mobile Robots,” J. of Intelligent and Robotic Systems: Theory and Applications, Vol.68, Issues 3-4, pp. 307-322, 2012.
  12. [12] A. Kaneshige, S. Hasegawa, and K. Terashima, “The Development of an Autonomous Mobile Crane System Considering On-Line Obstacle Recognition and Path Planning,” Intl. J. of Automation Technology, Vol.2, No.2, pp. 131-140, 2008.
  13. [13] T. Zhang, Y. Zhu, and J. Song, “Real-time motion planning for mobile robots by means of artificial potential field method in unknown environment,” Industrial Robot, Vol.37, Issue 4, pp. 384-400, 2010.
  14. [14] M. Schwager, D. Rus, and J. Slotine, “Unifying geometric, probabilistic, and potential field approaches to multi-robot deployment,” Intl. J. of Robotics Research, Vol.30, Issue 3, pp. 371-383, 2011.
  15. [15] T. Lozano-Perez, “Spatial Planning: A Configuration Space Approach,” IEEE Trans. on Computers, C-32, 2, pp. 108-120, 1983.

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

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Dec. 13, 2024