• 한국정밀공학회지
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• 제10권2호
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• pp.170-177
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• 1993

In robotic arc welding, the roll (rotation) of the torch about its direction vector does not have any effect on the welding operation. Thus we could use this redundant degree of greedom for the motion control of the robot manipulator. This paper presents an algorithm for the pseudo- inverse kinematic motion control of the 6-axis robot, which utilizes the above mentioned redunancy. The prototype welding operation and the tool path are also graphically simulated. Since the proposed algorithm requires only the position and normal vector of the weldine as an input data, it is useful for the CAD-based off-line programming of the arc welding robot. In addition, it also has the advantages of the redundant manipulator motion control, like singularity avoidance and collision free motion planning, when compared with the other motion control method based on the direct inverse kinematics.

• Journal of Welding and Joining
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• 제14권6호
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• pp.68-80
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• 1996

When a workpiece is to be arc welded around the outside corner, continuous welding without welding seam in the neighborhood of comer still remains a very difficult technique. Skilled welders weld comers by delicate“hand-eye coordination”while turning the workpiece manually, However, there is not a very clear solution to this problem in robotized arc welding process. In order to solve this problem, the coordination of a robot and a positioner with one or two axes is necessary. This paper presents a method of continuous welding around the corner of workpiece using the coordinated motion of a robot and a positioner. The positioner is either revolute jointed or prismatic jointed. In this paper, a clothoid curve is chosen for welding trajectory. The clothoid curve is excellent in connecting straight and curved weld-lines with good continuity and accommodates various welding conditions. By using this welding trajectory, the deceleration, which leads to widening of the melt and the heat affected zone, at comer area is reduced with strategic rotation of robot torch in coordination with a positioner providing smooth transition of welding torch orientation. Two types of special clothoid curves are developed for different weld slope conditions. These clothoid curves are applied to the case of linear and rotary Positioners at arc welding robot work-cell.

• 제어로봇시스템학회논문지
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• 제20권10호
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• pp.1051-1056
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• 2014

In this paper, we introduce an intelligent robotic arc welding system which exploits sensors like as LVS (Laser Vision Sensor), Hall effect sensor, voltmeter and so on. The use of industrial robot is saturated because of its own limitation, and one of the major limitations is that industrial robot cannot recognize the environment. Lately, sensor-based environmental awareness research of the industrial robot is performed actively to overcome such limitation, and it can expand application field and improve productivity. We classify the sensor-based intelligent arc welding robot system by the goal and the sensing data. The goals can be categorized into detection of a welding start point, tracking of a welding line and correction of a torch deformation. The Sensing data can be categorized into welding data (i.e. current, voltage and short circuit detection) and displacement data (i.e. distance, position). This paper covers not only the explanation of the each category but also its advantage and limitation.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 1996년도 특별강연 및 춘계학술발표 개요집
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• pp.96-98
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• 1996

Welding of corner area across the edge is a difficult problem in robotized arc welding system, especially when continuously-welded leakage-proof product is required. This paper presents the methodology of cooperation plan of an arc welding robot and 1 or 2 axis welding manipulators for corner area welding. Welding trajectory for the robot is generated using clothoid curves; symmetrical double clothoid curve or unsymmetrical clothoid curve depending on the nature of the workpiece. The clothoid curve is first formulated for the case of linear type positioning table and then applied to the case of rotary type manipulator. The methodology is then illustrated for practical downhand welding situations.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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• pp.582-587
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• 1993

A robot application system is developed for dual purpose of stud welding and are welding to weld plates in the manufacturing of elevator cabin. The production quantity is not so big to accommodate separate stations for stud welding and are welding respectively while the need for randomization of the processes is urgent. A robot with specification for spot welding is chosen, which is appropriate for stud welding. Some implementations are made so that the robot may also be shared for are welding process. Common jig and fixture is designed for the dual purpose. Important aspects in the procedure of system design, installation, and commissioning are stated, and signal set-ups and logic diagrams are illustrated.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 A
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• pp.376-379
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• 1993

GoldStar Industrial Systems Co. R & D center successfully developed the inverter for welding under the support of GoldStar Electric Machinery Co. Now, we are currently working on the mechanical part of articulated robot and a high-performance general purpose motion controller. By combining the above three items, we will be able to constitute the complete welding robot system on our own. In this article. the welding robot system currently under developing is introduced. The main focus will be placed on the development of general purpose motion controller with welding control module. Therefore, the architecture of welding robot controller where the general purpose motion controller is combined with the welding controller module will be explained. Here, the software system will be explained with regard to the hardware system.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.319-324
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• 2001

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or corner. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The experiment has been done to verify the effectiveness of the proposed controllers. These results are shown to fit well by the simulation results.

• Journal of Welding and Joining
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• 제16권3호
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• pp.102-110
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• 1998

The horizontal fillet welding is prevalently used in heavy and ship building industries to fabricate the large scale structures. A deep understanding of the horizontal fillet welding process is restricted, because the phenomena occurring in welding are very complex and highly non-linear characteristics. To achieve the satisfactory weld bead geometry in robot welding system, the seam tracking algorithm should be reliable. The number of seam tracker was developed for arc welding automation by now. Among these seam tracker, the arc sensor is prevalently used in industrial robot welding system because of its low cost and flexibility. However, the accuracy of arc sensor would be decreased due to the electrical noise and metal transfer. In this study, the signal processing algorithm based on the neural network was implemented to enhance the reliability of measured welding current signals. Moreover, the seam tracking algorithm in conjunction with the signal processing algorithm was implemented to trace the center of weld line. It was revealed that the neural network could be effectively used to predict the welding current signal at the end of weaving.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• 한국공작기계학회논문집
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• 제13권5호
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• pp.110-117
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• 2004

In automatic welding process using a robot, seam tracking is one of the important parts. Sensor for seam tracking is divided broadly into two categories as non contact sensor and contact sensor. The arc sensor is one of the non contact sensors, and it can be applied in weaving arc and rotating arc welding process. In such the arc sensors, rotating arc sensor can be applied to high speed welding over tens of Hz. The decrease of self regulation by high rotating speed causes to improve accuracy and response of sensor. In this study, fuzzy controller was used to track the seam for the $CO_2$ arc welding which had unstable arc. It could be shown that the rotating arc sensor was better than the weaving arc sensor.