Design and validation of a universal 6D seam tracking system in robotic welding based on laser scanning

被引:17
作者
Fridenfalk, M [1 ]
Bolmsjö, G [1 ]
机构
[1] Lund Univ, Dept Mech Engn, Div Robot, SE-22100 Lund, Sweden
来源
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION | 2003年 / 30卷 / 05期
关键词
lasers; welding; robotics;
D O I
10.1108/01439910310492202
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
This paper presents the design and validation of a universal 6D seam tracking system that reduces the need of accurate robot trajectory programming and geometrical databases in robotic laser scanning. The 6D seam tracking system was developed in the flexible unified simulation environment, integrating software prototyping with mechanical virtual prototyping, based on physical experiments, The validation experiments showed that this system was both robust and reliable and should be able to manage a radius of curvature less than 200 mm. In the pre-scanning mode, a radius of curvature down to 2 mm was managed for pipe intersections an: 3 scans/mm, using a laser scanner with an accuracy of 0.015 mm.
引用
收藏
页码:437 / 448
页数:12
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