Robot path planning optimization for welding complex joints

In robotic welding, the planning and generation of the motion of the welding torch are crucial in welding complex joints. This paper presents an approach for optimal robot path planning of the centroid pass in welding a Y-joint. Relevant data associated with the welding passes is defined and managed to facilitate robot path planning and generation. With properly selected welding torch inclination angles and welding pass segmentation techniques, a solution space containing a number of robot paths is generated to account for functional redundancy and different welding robot configurations. A solution with minimum joint movement is determined using a beam search algorithm as the optimal robot path for each welding pass segment. A case study of robot path planning of the centroid pass of a scaled-down Y-joint is simulated and discussed.