Process planning and offline programming for robotic remote laser welding systems

被引：27
作者：
Erdos, Gabor [1 ,2 ]
Kardos, Csaba [1 ,2 ]
Kemeny, Zsolt [1 ]
Kovacs, Andras [1 ]
Vancza, Jozsef [1 ,2 ]
机构：
[1] Hungarian Acad Sci, Inst Comp Sci & Control, Fraunhofer Project Ctr Prod Management & Informat, Budapest, Hungary
[2] Budapest Univ Technol & Econ, Dept Mfg Sci & Technol, Budapest, Hungary
来源：
INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING | 2016年 / 29卷 / 12期
关键词：
robotics; lasers; welding; path planning; optimisation; offline programming; OPTIMAL PLACEMENT; OPTIMIZATION; LOCATION; DESIGN; BASE;
D O I：
10.1080/0951192X.2015.1033753
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
The paper introduces a complete offline programming toolbox for remote laser welding (RLW) which provides a semi-automated method for computing close-to-optimal robot programs. A workflow is proposed for the complete planning process, and new models and algorithms are presented for solving the optimisation problems related to each step of the workflow: the sequencing of the welding tasks, path planning, workpiece placement, calculation of inverse kinematics and the robot trajectory, as well as for generating the robot program code. The paper summarises the results of an industrial case study on the assembly of a car door using RLW technology, which illustrates the feasibility and the efficiency of the proposed approach.
引用
收藏
页码：1287 / 1306
页数：20
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