Posture Control of Welding Robot on the Basis of CAD Data (Collision Avoidance using Potential Field)

机译：基于CAD数据的焊接机器人的姿态控制（使用势场避免碰撞）

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The study deals with an automation of the welding by generating the control command for the welding robot automatically.Generally,a movement of a robot is decided depending on the tool path-a series of position and posture of the tool attached to the mechanical interface-of the robot.We tried to generate the tool path focused on a collision avoidance of the welding tool on the bases of CAD data of the workpiece.In the study,to cope with a characteristic of the welding,which is required to be continuous in tool velocity and posture,the tool path is generated by use of a potential field in a configuration space.As a result,the system is found effective to generate smooth and collision-free tool path.

机译：该研究通过自动生成焊接机器人的控制命令来解决焊接的自动化问题。通常，机器人的运动取决于工具路径-一系列附着在机械接口上的工具的位置和姿势-我们试图基于工件的CAD数据生成着重于避免焊接工具碰撞的工具路径。在研究中，为了应对焊接的特性，要求在加工过程中必须连续进行刀具速度和姿态，通过使用配置空间中的势场生成刀具路径。结果，该系统可有效生成平滑且无碰撞的刀具路径。

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来源
《International conference on mechatronics technology》|2012年|388-391|共4页
会议地点 Tianjin(CN)
作者
Naoki Asakawa; Yoshihiro Kanjo;
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作者单位

Faculty of Mechanical Engineering, Institute of Science and Engineering, Kanazawa University, Ishikawa, Japan;

Turumi Works, JFE Engineering Corp.Yokohama, Japan;

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会议组织
原文格式 PDF
正文语种 eng
中图分类 TH15;
关键词
industrial robot; welding; collision avoidance;

机译：工业机器人;焊接;防撞;

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1. Collision Avoidance of a Welding Robot for a Large Structure (Application of Potential Field) [J] . Naoki Asakawa, Yoshihiro Kanjo International journal of automation technology . 2013,第2期

机译：大型结构焊接机器人的防撞（势场的应用）
2. Trajectory Planning with Collision Avoidance for Redundant Robots Using Jacobian and Artificial Potential Field-based Real-time Inverse Kinematics [J] . International Journal of Control, Automation, and Systems . 2020,第8期

机译：使用Jacobian和人工潜在的实地的实时反向运动学对冗余机器人进行碰撞的轨迹规划
3. Collision avoidance for mobile robots based on artificial potential field and obstacle envelope modelling [J] . Zhenyu Wu, Guang Hu, Lin Feng, Assembly Automation . 2016,第3期

机译：基于人工势场和障碍物包络建模的移动机器人防撞
4. Posture Control of Welding Robot on the Basis of CAD Data (Collision Avoidance using Potential Field) [C] . Naoki Asakawa, Yoshihiro Kanjo International conference on mechatronics technology . 2012

机译：基于CAD数据的焊接机器人的姿势控制（使用潜在场碰撞避免）
5. Collision avoidance for fixed-wing unmanned aerial systems using morphing potential field navigation with robust and predictive control. [D] . Stastny, Thomas James. 2014

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6. Load cell torques and force data collection during tele-operated robotic gas tungsten arc welding in presence of collisions [O] . Michael Tannous, Francesco Bologna, Cesare Stefanini 2020

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7. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014

机译：开发用于移动微型机器人的生物启发视觉系统：在本文中，我们提出了一种用于移动微型机器人的新型生物启发视觉系统。该处理方法从检测快速接近物体的蝗虫视觉中获取灵感。研究表明，蝗虫使用称为小叶巨型运动探测器的宽视野神经元来应对即将发生的碰撞。我们采用蝗虫的视觉机制来控制移动机器人。所选择的图像处理方法使用低成本且快速的aRm处理器在开发的扩展模块上实现。视觉模块放置在微型机器人的顶部以控制其轨迹并避开障碍物。几次进行的实验观察到的结果表明，开发的扩展模块和灵感视觉系统可用作避障和运动控制的视觉模块。
8. Optimal Control Strategy for Collision Avoidance of Mobile Robots in Non-Stationary Environments [R] . Kyriakopoulos, K. J., Saridis, G. N. 1991

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Posture Control of Welding Robot on the Basis of CAD Data (Collision Avoidance using Potential Field)

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